A Perception-aware Architecture for Autonomous Robots

Manso, Luis J.; Bustos, Pablo; Bachiller, Pilar; Núñez, Pedro

doi:10.5772/61742

Cited by 9 publications

(8 citation statements)

References 20 publications

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“…These domains are used to describe the transformations that can be implemented in the world model (see Figure 9). The language and the planner used were proposed in [25].…”

Section: Executivementioning

confidence: 99%

The CORTEX cognitive robotics architecture: Use cases

Bustos

Manso

Bandera

et al. 2019

Cognitive Systems Research

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CORTEX is a cognitive robotics architecture inspired by three key ideas: modularity, internal modelling and graph representations. CORTEX is also a computational framework designed to support early forms of intelligence in real world, human interacting robots, by selecting an a priori functional decomposition of the capabilities of the robot. This set of abilities was then translated to computational modules or agents, each one built as a network of software interconnected components. The nature of these agents can range from pure reactive modules connected to sensors and/or actuators, to pure deliberative ones, but they can only communicate with each other through a graph structure called Deep State Representation (DSR). DSR is a shortterm dynamic representation of the space surrounding the robot, the objects and the humans in it, and the robot itself. All these entities are perceived and transformed into different levels of abstraction, ranging from geometric data to high-level symbolic relations such as "the person is talking and gazing at me". The combination of symbolic and geometric information endows the architecture with the potential to simulate and anticipate the outcome of the actions executed by the robot. In this paper we present recent advances in the CORTEX architecture and several real-world human-robot interaction scenarios in which they have been tested. We describe our interpretation of the ideas inspiring the architecture and the reasons why this specific computational framework is a promising architecture for the social robots of tomorrow.

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“…These domains are used to describe the transformations that can be implemented in the world model (see Figure 9). The language and the planner used were proposed in [25].…”

Section: Executivementioning

confidence: 99%

The CORTEX cognitive robotics architecture: Use cases

Bustos

Manso

Bandera

et al. 2019

Cognitive Systems Research

View full text Add to dashboard Cite

show abstract

“…The use of a unique, shared representation including symbolic and metric information was already implemented with remarkable success in previous works [25][26][27]. These initial efforts introduced the so-called Deep State Representation (DSR) which will be described in Section 3.…”

Section: Relevant Novelty With Respect To Our Previous Workmentioning

confidence: 99%

Perceptions or Actions? Grounding How Agents Interact Within a Software Architecture for Cognitive Robotics

et al. 2019

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One of the aims of cognitive robotics is to endow robots with the ability to plan solutions for complex goals and then to enact those plans. Additionally, robots should react properly upon encountering unexpected changes in their environment that are not part of their planned course of actions. This requires a close coupling between deliberative and reactive control flows. From the perspective of robotics, this coupling generally entails a tightly integrated perceptuomotor system, which is then loosely connected to some specific form of deliberative system such as a planner. From the high-level perspective of automated planning, the emphasis is on a highly functional system that, taken to its extreme, calls perceptual and motor modules as services when required. This paper proposes to join the perceptual and acting perspectives via a unique representation where the responses of all software modules in the architecture are generalized using the same set of tokens. The proposed representation integrates symbolic and metric information. The proposed approach has been successfully tested in CLARC, a robot that performs Comprehensive Geriatric Assessments of elderly patients. The robot was favourably appraised in a survey conducted to assess its behaviour. For instance,

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“…Since it was first presented in [8] the Active Grammar-based architecture (AGM) has been used in multiple scenarios and robots [11], [9], especially in the CORTEX architecture [1], which is built on top of AGM. This extensive use has raised several limitations and feature requests.…”

Section: New Featuresmentioning

confidence: 99%

“…AGM targets, as proposed in [8], were defined as concrete patterns sought to be found in the robot's world model representation. These patterns were specified using a graphical model.…”

Section: A Flexible Mission Definitionmentioning

confidence: 99%