RT info:eu-repo/semantics/article
T1 MERLIN a Cognitive Architecture for Service Robots
A1 González Santamarta, Miguel Ángel
A1 Rodríguez Lera, Francisco Javier
A1 Álvarez Aparicio, Claudia
A1 Guerrero Higueras, Ángel Manuel
A1 Fernández Llamas, Camino
A2 Ciencias de la Computacion e Inteligencia Artificial
K1 Ingeniería de sistemas
K1 Cognitive robotics
K1 Robot planning and scheduling
K1 Finite state-machines
K1 Hybrid architecture
K1 Robotics competition
K1 Object oriented programming
K1 3311.01 Tecnología de la Automatización
AB [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.
PB MDPI
LK https://hdl.handle.net/10612/18146
UL https://hdl.handle.net/10612/18146
NO 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
DS BULERIA. Repositorio Institucional de la Universidad de León
RD 19-may-2024