Evolution of a Cognitive Architecture for Social Robots: Integrating Behaviors and Symbolic Knowledge
| Autor: | Vicente Matellán, Jonatan Ginés, Francisco Martín, Francisco Javier Rodríguez Lera |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Knowledge representation and reasoning
Computer science lcsh:Technology lcsh:Chemistry Human–computer interaction General Materials Science Architecture lcsh:QH301-705.5 Instrumentation Fluid Flow and Transfer Processes Finite-state machine Social robot lcsh:T business.industry Process Chemistry and Technology knowledge representation General Engineering Robotics Cognitive architecture lcsh:QC1-999 Computer Science Applications reactivity robotic architectures lcsh:Biology (General) lcsh:QD1-999 lcsh:TA1-2040 Robot Graph (abstract data type) Artificial intelligence planning lcsh:Engineering (General). Civil engineering (General) business lcsh:Physics |
| Zdroj: | Applied Sciences, Vol 10, Iss 6067, p 6067 (2020) Applied Sciences Volume 10 Issue 17 |
| ISSN: | 2076-3417 |
| DOI: | 10.3390/app10176067 |
| Popis: | This paper presents the evolution of a robotic architecture intended for controlling autonomous social robots. The first instance of this architecture was originally designed according to behavior-based principles. The building blocks of this architecture were behaviors designed as a finite state machine and organized in an ethological inspired way. However, the need of managing explicit symbolic knowledge in human&ndash robot interaction required the integration of planning capabilities into the architecture and a symbolic representation of the environment and the internal state of the robot. A major contribution of this paper is the description of the working memory that integrates these two approaches. This working memory has been implemented as a distributed graph. Another contribution is the use of behavior trees instead of state machine for implementing the behavior-based part of the architecture. This late version of the architecture has been tested in robotic competitions (RoboCup or European Robotics League, among others), whose performance is also discussed in this paper. |
| Databáze: | OpenAIRE |
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