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Título
MERLIN a Cognitive Architecture for Service Robots
Autor
Facultad/Centro
Área de conocimiento
Título de la revista
Applied Sciences
Número de la revista
17
Cita Bibliográfica
González-Santamarta, M. Á., Rodríguez-Lera, F. J., Álvarez-Aparicio, C., Guerrero-Higueras, Á. M., & Fernández-Llamas, C. (2020). MERLIN a cognitive architecture for service robots. Applied Sciences (Switzerland), 10(17). https://doi.org/10.3390/APP10175989
Editorial
MDPI
Fecha
2020-07-29
Resumen
[EN] Many social robots deployed in public spaces hide hybrid cognitive architectures for dealing with daily tasks. Mostly, two main blocks sustain these hybrid architectures for robot behavior generation: deliberative and behavioral-based mechanisms. Robot Operating System offers different solutions for implementing these blocks, however, some issues arise when both are released in the robot. This paper presents a software engineering approach for normalizing the process of integrating them and presenting them as a fully cognitive architecture named MERLIN. Providing implementation details and diagrams for established the architecture, this research tests empirically the proposed solution using a variation from the challenge defined in the SciRoc @home competition. The results validate the usability of our approach and show MERLIN as a hybrid architecture ready for short and long-term tasks, showing better results than using a by default approach, particularly when it is deployed in highly interactive scenarios.
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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-I00/ES/DETECCION Y CARACTERIZACION AUTOMATICA DE PROBLEMAS DE CIBERSEGURIDAD EN PLATAFORMAS ROBOTICAS
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