Design of Representation Systems for Autonomous Agents

Martin, Worthy N.; Wasson, Glenn

doi:10.18130/v38g44

Cited by 2 publications

(1 citation statement)

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“…While less memory efficient than Brill's approach the SES's persistent structure facilitates the rapid updating of object positions during ego-motion and enables the spatial association of multi-modal sensory stimuli. Wasson et al (1998), Wasson (1999) proposes a taskoriented design methodology for the perception-action layer of a hybrid, reactive-deliberative control architecture. It incorporates markers, like those described by Brill, not only to store information but also to share it between reactive agents.…”

Section: Related Workmentioning

confidence: 99%

The sensory ego-sphere: a mediating interface between sensors and cognition

2008

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The Sensory Ego-Sphere (SES) is an interface for a robot that serves to mediate information between sensors and cognition. The SES can be visualized as a sphere centered on the coordinate frame of the robot, spatially indexed by polar and azimuthal angles. Internally, the SES is a graph with a fixed number of edges that partitions surrounding space and contains localized sensor information from the robot. This paper describes the SES and gives the results of implementing the SES on multiple robots, both humanoid and mobile, to support essential functions such as a localized short-term memory, spatio-temporal sensorymotor event detection, attentional processing, data sharing, and ego-centric navigation.

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Section: Related Workmentioning

confidence: 99%