RT info:eu-repo/semantics/article
T1 MERLIN2: MachinEd Ros 2 pLanINg
A1 González Santamarta, Miguel Ángel
A1 Rodríguez Lera, Francisco Javier
A1 Fernández Llamas, Camino
A1 Matellán Olivera, Vicente
A2 Arquitectura y Tecnologia de Computadores
K1 Cibernética
K1 Cognitive robotics
K1 Hybrid architecture
K1 Symbolic planning
K1 Finite state-machines
K1 Reactivity
K1 Knowledge managing
K1 1207.03 Cibernética
K1 1203.04 Inteligencia Artificial
AB [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.
PB Elsevier
SN 2665-9638
LK https://hdl.handle.net/10612/20484
UL https://hdl.handle.net/10612/20484
NO 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
NO Permanent link to code/repository used for this code version: https://github.com/SoftwareImpacts/SIMPAC-2023-26
DS BULERIA. Repositorio Institucional de la Universidad de León
RD Jul 12, 2024