<s>
Winner-take-all	B-Algorithm
is	O
a	O
computer	B-General_Concept
science	I-General_Concept
concept	O
that	O
has	O
been	O
widely	O
applied	O
in	O
behavior-based	O
robotics	O
as	O
a	O
method	O
of	O
action	O
selection	O
for	O
intelligent	B-General_Concept
agents	I-General_Concept
.	O
</s>
<s>
Winner-take-all	B-Algorithm
systems	O
work	O
by	O
connecting	O
modules	O
(	O
task-designated	O
areas	O
)	O
in	O
such	O
a	O
way	O
that	O
when	O
one	O
action	O
is	O
performed	O
it	O
stops	O
all	O
other	O
actions	O
from	O
being	O
performed	O
,	O
so	O
only	O
one	O
action	O
is	O
occurring	O
at	O
a	O
time	O
.	O
</s>
<s>
In	O
1982	O
,	O
Jerome	O
A	O
.	O
Feldman	O
and	O
D.H.	O
Ballard	O
published	O
the	O
"	O
Connectionist	O
Models	O
and	O
Their	O
Properties	O
"	O
,	O
referencing	O
and	O
explaining	O
winner-take-all	B-Algorithm
as	O
a	O
method	O
of	O
action	O
selection	O
.	O
</s>
<s>
In	O
1986	O
,	O
Rodney	O
Brooks	O
introduced	O
behavior-based	O
artificial	B-Application
intelligence	I-Application
.	I-Application
</s>
<s>
Winner-take-all	B-Algorithm
architectures	O
for	O
action	O
selection	O
soon	O
became	O
a	O
common	O
feature	O
of	O
behavior-based	O
robots	O
,	O
because	O
selection	O
occurred	O
at	O
the	O
level	O
of	O
the	O
action	O
modules	O
(	O
bottom-up	O
)	O
rather	O
than	O
at	O
a	O
separate	O
cognitive	O
level	O
(	O
top-down	O
)	O
,	O
producing	O
a	O
tight	O
coupling	O
of	O
stimulus	O
and	O
reaction	O
.	O
</s>
<s>
Some	O
arbiter	O
systems	O
take	O
a	O
different	O
spin	O
on	O
this	O
type	O
of	O
winner-take-all	B-Algorithm
by	O
using	O
a	O
"	O
compromise	O
"	O
feature	O
in	O
the	O
arbiter	O
.	O
</s>
<s>
This	O
can	O
be	O
seen	O
as	O
violating	O
the	O
general	O
rule	O
against	O
creating	O
representations	O
of	O
the	O
world	O
in	O
behavior-based	O
AI	B-Application
,	O
established	O
by	O
Brooks	O
.	O
</s>
