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Título
Evolution of a Cognitive Architecture for Social Robots: Integrating Behaviors and Symbolic Knowledge
Autor
Facultad/Centro
Área de conocimiento
Título de la revista
Applied Sciences
Número de la revista
17
Datos de la obra
Martín, F., Lera, F. J. R., Ginés, & Matellán. (2020). Evolution of a cognitive architecture for social robots: Integrating behaviors and symbolic knowledge. Applied Sciences (Switzerland), 10(17). https://doi.org/10.3390/APP10176067
Editor
MDPI
Fecha
2020-08-01
Zusammenfassung
[EN] 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–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.
Materia
Palabras clave
Peer review
SI
ID proyecto
- info:eu-repo/grantAgreement/AEI/Programa Estatal de I+D+i Orientada a los Retos de la Sociedad/RTI2018-100683-B-I0/ES/DETECCION Y CARACTERIZACION AUTOMATICA DE PROBLEMAS DE CIBERSEGURIDAD EN PLATAFORMAS ROBOTICAS
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DOI
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