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dc.contributor | Escuela de Ingenierias Industrial, Informática y Aeroespacial | es_ES |
dc.contributor.author | González Santamarta, Miguel Ángel | |
dc.contributor.author | Rodríguez Lera, Francisco Javier | |
dc.contributor.author | Álvarez Aparicio, Claudia | |
dc.contributor.author | Guerrero Higueras, Ángel Manuel | |
dc.contributor.author | Fernández Llamas, Camino | |
dc.contributor.other | Ciencias de la Computacion e Inteligencia Artificial | es_ES |
dc.date | 2020-07-29 | |
dc.date.accessioned | 2024-02-08T07:46:42Z | |
dc.date.available | 2024-02-08T07:46:42Z | |
dc.identifier.citation | 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 | es_ES |
dc.identifier.uri | https://hdl.handle.net/10612/18146 | |
dc.description.abstract | [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. | es_ES |
dc.language | eng | es_ES |
dc.publisher | MDPI | es_ES |
dc.rights | Atribución 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | * |
dc.subject | Ingeniería de sistemas | es_ES |
dc.subject.other | Cognitive robotics | es_ES |
dc.subject.other | Robot planning and scheduling | es_ES |
dc.subject.other | Finite state-machines | es_ES |
dc.subject.other | Hybrid architecture | es_ES |
dc.subject.other | Robotics competition | es_ES |
dc.subject.other | Object oriented programming | es_ES |
dc.title | MERLIN a Cognitive Architecture for Service Robots | es_ES |
dc.type | info:eu-repo/semantics/article | es_ES |
dc.identifier.doi | 10.3390/app10175989 | |
dc.description.peerreviewed | SI | es_ES |
dc.relation.projectID | 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 | es_ES |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es_ES |
dc.identifier.essn | 2076-3417 | |
dc.journal.title | Applied Sciences | es_ES |
dc.volume.number | 10 | es_ES |
dc.issue.number | 17 | es_ES |
dc.page.initial | 5989 | es_ES |
dc.type.hasVersion | info:eu-repo/semantics/publishedVersion | es_ES |
dc.subject.unesco | 3311.01 Tecnología de la Automatización | es_ES |
dc.description.project | Agencia Estatal de Investigación | es_ES |
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