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Título
MERLIN2: MachinEd Ros 2 pLanINg
Autor
Facultad/Centro
Área de conocimiento
Título de la revista
Software Impacts
Datos de la obra
González-Santmarta, M. Á., Rodríguez-Lera, F. J., Fernández-Llamas, C., & Matellán-Olivera, V. (2023). MERLIN2: MachinEd Ros 2 pLanINg[Formula presented]. Software Impacts, 15. https://doi.org/10.1016/J.SIMPA.2023.100477
Editor
Elsevier
Fecha
2023-03
ISSN
2665-9638
Resumo
[EN] Any service robot should be able to make decisions and schedule tasks to reach predefined goals such as opening a door or assisting users at home. However, these processes are not single short-term tasks anymore and it is required to set long-term skills for establishing a control architecture that allows robots to perform daily tasks. This paper presents MERLIN2, a hybrid cognitive architecture based on symbolic planning and state machine decision-making systems that allows performing robot behaviors. The architecture can run in any robot running ROS 2, the latest version of the Robot Operative System. MERLIN2 is available at https://github.com/MERLIN2-ARCH/merlin2.
Materia
Palabras clave
Peer review
SI
ID proyecto
- info:eu-repo/grantAgreement/AEI/Programa Estatal para Impulsar la Investigación Científico-Técnica y su Transferencia/PID2021-126592OB-C21/ES/EXPLICABILIDAD EN LA TOMA DE DECISIONES DE ROBOTS AUTONOMOS (EDMAR)
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