Biomimetic Emotional Learning Agents

This extended abstract proposes a type of AI agent comprised of: an autonomous real-time control system,\ud low-level emotional learning (including a simple\ud knowledge base that links homeostatic/innate drives to sensory perception states), and a novel sliding-priority drive motivation mechanism. Learning occurs in both phylogenetic and ontogenetic training

Realization of reactive control for multi purpose mobile agents

Mobile robots are built for different purposes, have different physical size, shape, mechanics and electronics. They are required to work in real-time, realize more than one goal simultaneously, hence to communicate and cooperate with other agents. The approach proposed in this paper for mobile robot control is reactive and has layered structure that supports multi sensor perception. Potential field method is implemented for both obstacle avoidance and goal tracking. However imaginary forces of the obstacles and of the goal point are separately treated, and then resulting behaviors are fused with the help of the geometry. Proposed control is tested on simulations where different scenarios are studied. Results have confirmed the high performance of the method

A systematic literature review of decision-making and control systems for autonomous and social robots

In the last years, considerable research has been carried out to develop robots that can improve our quality of life during tedious and challenging tasks. In these contexts, robots operating without human supervision open many possibilities to assist people in their daily activities. When autonomous robots collaborate with humans, social skills are necessary for adequate communication and cooperation. Considering these facts, endowing autonomous and social robots with decision-making and control models is critical for appropriately fulfiling their initial goals. This manuscript presents a systematic review of the evolution of decision-making systems and control architectures for autonomous and social robots in the last three decades. These architectures have been incorporating new methods based on biologically inspired models and Machine Learning to enhance these systems’ possibilities to developed societies. The review explores the most novel advances in each application area, comparing their most essential features. Additionally, we describe the current challenges of software architecture devoted to action selection, an analysis not provided in similar reviews of behavioural models for autonomous and social robots. Finally, we present the future directions that these systems can take in the future.The research leading to these results has received funding from the projects: Robots Sociales para Estimulación Física, Cognitiva y Afectiva de Mayores (ROSES), RTI2018-096338-B-I00, funded by the Ministerio de Ciencia, Innovación y Universidades; Robots sociales para mitigar la soledad y el aislamiento en mayores (SOROLI), PID2021-123941OA-I00, funded by Agencia Estatal de Investigación (AEI), Spanish Ministerio de Ciencia e Innovación. This publication is part of the R&D&I project PLEC2021-007819 funded by MCIN/AEI/10.13039/501100011033 and by the European Union NextGenerationEU/PRTR

Behavior-based Fuzzy Control For A Mobile Robot With Non-holonomic Constraints

Tez (Yüksek Lisans) -- İstanbul Teknik Üniversitesi, Fen Bilimleri Enstitüsü, 2005Thesis (M.Sc.) -- İstanbul Technical University, Institute of Science and Technology, 2005Bu çalışmada robotik alanında yeni yaklaşımlar olan davranış temelli robotik ve bulanık mantık konuları gerçek zamanda mobil robot uygulamaları bakımından incelenmiş, dört ilerlemeli, dört yönelmeli bir mobil robot için Engelden Sakın , Hedefe Git , Duvarı İzle , Yola Teğet İlerle , Avare Gez davranışları oluşturulmuştur. Bu davranışların içinden Engelden Sakın , Hedefe Git ve Duvarı İzle davranışları için sonar sensör matematik modelleri oluşturulmuş ve bu davranışların yapısında bulanık mantık yaklaşımı kullanılmıştır. Mobil robot, kinetik ve dinamik olarak holonomik olmayan kısıtları kullanılarak modellenmiştir ve simülasyon sırasında mobil robotun pozisyonu, tekerlek ve robot yönelimleri, tekerlek ve robot hızları, tekerlek torkları gibi parametreler izlenebilmektedir. Davranışlar da, simülasyon ortamında kazanımları, bulanık mantık işleme yapıları, gerçek zaman uygulanabilirliği ve davranışların koordine edilmeleri bakımından incelenmiştir. Bu çalışma gerçek bir robotta yapılacak deneyler için temel teşkil etmektedir.In this study, the new approaches to the robotics subject, behavior-based robotics and fuzzy logic control are investigated for the real-time applications of mobile robots, Avoid Obstacle , Move to Goal , Wall Following , Head-on , Wander behaviors are built up for a four-wheel driven and four-wheel steered mobile robot. Sonar sensor mathematical models are formed for Avoid Obstacle , Move to Goal and Wall Following behaviors and fuzzy logic concepts are used in the structure of these behaviors. The mobile robot is modelled kinematically and dynamically considering the non-holonomic constraints. The posture and speed of the robot and the configurations, speeds and torques of the wheels can be obtained from the simulation. The behaviors are investigated regarding their gains, fuzzy inference structures, real-time applicabilities and thein coordination. This study constitutes basis for the experiments on a real mobile robot.Yüksek LisansM.Sc

An Emotion Theory Approach to Artificial Emotion Systems for Robots and Intelligent Systems: Survey and Classification

This is the published version.To assist in the evaluation process when determining architectures for new robots and intelligent systems equipped with artificial emotions, it is beneficial to understand the systems that have been built previously. Other surveys have classified these systems on the basis of their technological features. In this survey paper, we present a classification system based on a model similar to that used in psychology and philosophy for theories of emotion. This makes possible a connection to thousands of years of discourse on the topic of emotion. Five theories of emotion are described based on an emotion theory model proposed by Power and Dalgleish. The paper provides classifications using a model of 10 new questions, for 14 major research projects that describe implementations or designs for systems that use artificial emotions for either robotics or general artificial intelligenc

Attentional mechanisms for socially interactive robots – a survey

This review intends to provide an overview of the state of the art in the modeling and implementation of automatic attentional mechanisms for socially interactive robots. Humans assess and exhibit intentionality by resorting to multisensory processes that are deeply rooted within low-level automatic attention-related mechanisms of the brain. For robots to engage with humans properly, they should also be equipped with similar capabilities. Joint attention, the precursor of many fundamental types of social interactions, has been an important focus of research in the past decade and a half, therefore providing the perfect backdrop for assessing the current status of state-of-the-art automatic attentional-based solutions. Consequently, we propose to review the influence of these mechanisms in the context of social interaction in cutting-edge research work on joint attention. This will be achieved by summarizing the contributions already made in these matters in robotic cognitive systems research, by identifying the main scientific issues to be addressed by these contributions and analyzing how successful they have been in this respect, and by consequently drawing conclusions that may suggest a roadmap for future successful research efforts