A mobile brain-based device BBD includes a mobile base equipped with sensors and effectors (Neurally Organized Mobile Adaptive Device or NOMAD), which is guided by a simulated
nervous system that is an analogue of cortical and sub-cortical areas of the brain required for
visual processing, decision-making, reward, and motor responses. These simulated cortical and sub-cortical areas are reentrantly connected and each area contains neuronal units representing both the mean
activity level and the relative timing of the activity of groups of neurons. The brain-based device BBD learns to discriminate among multiple objects with shared visual features, and associated “target” objects with innately preferred auditory cues. Globally distributed
neuronal circuits that correspond to distinct objects in the visual field of NOMAD 10 are activated. These circuits, which are constrained by a reentrant neuroanatomy and modulated by behavior and
synaptic plasticity, result in successful discrimination of objects. The brain-based device BBD is moveable, in a rich real-world environment involving continual changes in the size and location of visual stimuli due to self-generated or autonomous, movement, and shows that reentrant
connectivity and dynamic synchronization provide an effective mechanism for binding the features of
visual objects so as to reorganize object features such as color, shape and motion while distinguishing distinct objects in the environment.