Modelling rational user behaviour as games between an angel and a demon

Formal models of rational user behavior are essential for user-centered reasoning about interactive systems. At an abstract level, planned behavior and reactive behavior are two important aspects of the rational behavior of users for which existing cognitive modeling approaches are too detailed. In this paper, we propose a novel treatment of these aspects within our formal framework of cognitively plausible behavior. We develop an abstract, formal model of rational behavior as a game between two opponents. Intuitively, an Angel abstractly represents the planning aspects, whereas a Demon represents the reactive aspects of user behavior. The formalization is carried out within the MOCHA framework and is illustrated by simple examples of interactive tasks

Development of a Semi-Autonomous Robotic System to Assist Children with Autism in Developing Visual Perspective Taking Skills

Robot-assisted therapy has been successfully used to help children with Autism Spectrum Condition (ASC) develop their social skills, but very often with the robot being fully controlled remotely by an adult operator. Although this method is reliable and allows the operator to conduct a therapy session in a customised child-centred manner, it increases the cognitive workload on the human operator since it requires them to divide their attention between the robot and the child to ensure that the robot is responding appropriately to the child's behaviour. In addition, a remote-controlled robot is not aware of the information regarding the interaction with children (e.g., body gesture and head pose, proximity etc) and consequently it does not have the ability to shape live HRIs. Further to this, a remote-controlled robot typically does not have the capacity to record this information and additional effort is required to analyse the interaction data. For these reasons, using a remote-controlled robot in robot-assisted therapy may be unsustainable for long-term interactions. To lighten the cognitive burden on the human operator and to provide a consistent therapeutic experience, it is essential to create some degrees of autonomy and enable the robot to perform some autonomous behaviours during interactions with children. Our previous research with the Kaspar robot either implemented a fully autonomous scenario involving pairs of children, which then lacked the often important input of the supervising adult, or, in most of our research, has used a remote control in the hand of the adult or the children to operate the robot. Alternatively, this paper provides an overview of the design and implementation of a robotic system called Sense- Think-Act which converts the remote-controlled scenarios of our humanoid robot into a semi-autonomous social agent with the capacity to play games autonomously (under human supervision) with children in the real-world school settings. The developed system has been implemented on the humanoid robot Kaspar and evaluated in a trial with four children with ASC at a local specialist secondary school in the UK where the data of 11 Child-Robot Interactions (CRIs) was collected. The results from this trial demonstrated that the system was successful in providing the robot with appropriate control signals to operate in a semi-autonomous manner without any latency, which supports autonomous CRIs, suggesting that the proposed architecture appears to have promising potential in supporting CRIs for real-world applications.Peer reviewe

CORBYS cognitive control architecture for robotic follower

In this paper the novel generic cognitive robot control architecture CORBYS is presented. The objective of the CORBYS architecture is the integration of high-level cognitive modules to support robot functioning in dynamic environments including interacting with humans. This paper presents the preliminary integration of the CORBYS architecture to support a robotic follower. Experimental results on high-level empowerment-based trajectory planning have demonstrated the effectiveness of ROS-based communication between distributed modules developed in a multi-site research environment as typical for distributed collaborative projects such as CORBYS

A Simulation Tool for tccp Programs

The Timed Concurrent Constraint Language tccp is a declarative synchronous concurrent language, particularly suitable for modelling reactive systems. In tccp, agents communicate and synchronise through a global constraint store. It supports a notion of discrete time that allows all non-blocked agents to proceed with their execution simultaneously. In this paper, we present a modular architecture for the simulation of tccp programs. The tool comprises three main components. First, a set of basic abstract instructions able to model the tccp agent behaviour, the memory model needed to manage the active agents and the state of the store during the execution. Second, the agent interpreter that executes the instructions of the current agent iteratively and calculates the new agents to be executed at the next time instant. Finally, the constraint solver components which are the modules that deal with constraints. In this paper, we describe the implementation of these components and present an example of a real system modelled in tccp.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Consciosusness in Cognitive Architectures. A Principled Analysis of RCS, Soar and ACT-R

This report analyses the aplicability of the principles of consciousness developed in the ASys project to three of the most relevant cognitive architectures. This is done in relation to their aplicability to build integrated control systems and studying their support for general mechanisms of real-time consciousness.\ud To analyse these architectures the ASys Framework is employed. This is a conceptual framework based on an extension for cognitive autonomous systems of the General Systems Theory (GST).\ud A general qualitative evaluation criteria for cognitive architectures is established based upon: a) requirements for a cognitive architecture, b) the theoretical framework based on the GST and c) core design principles for integrated cognitive conscious control systems