Anticipation is a skill that enables complex decision making in humans and other biological agents. We review different implementations of anticipatory behavior in robots and give an overview on anticipation in biological systems. Based on an example of anticipatory behavior in humanoid robots, we discuss decision making and anticipation in artificial agents. We show that anticipation can enable fast decisions in highly dynamic and complex situations. Our findings are supported by experimental results performed in simulation and on real robots in large scale experiments.

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