8 research outputs found
Toward an idiomatic framework for cognitive robotics
Inspired by the "Cognitive Hour-glass" model presented in
https://doi.org/10.1515/jagi-2016-0001, we propose a new framework for
developing cognitive architectures aimed at cognitive robotics. The purpose of
the proposed framework is foremost to ease the development of cognitive
architectures by encouraging and mitigating cooperation and re-use of existing
results. This is done by proposing a framework dividing the development of
cognitive architectures into a series of layers that can be considered partly
in isolation, and some of which directly relate to other research fields.
Finally, we give introductions to and review some topics essential to the
proposed framework.Comment: 16 pages, 24 figure
Toward an idiomatic framework for cognitive robotics
Inspired by the “cognitive hourglass” model presented by the researchers behind the cognitive architecture called Sigma, we propose a framework for developing cognitive architectures for cognitive robotics. The main purpose of the proposed framework is to ease development of cognitive architectures by encouraging cooperation and re-use of existing results. This is done by proposing a framework dividing development of cognitive architectures into a series of layers that can be considered partly in isolation, some of which directly relate to other research fields. Finally, we introduce and review some topics essential for the proposed framework. We also outline a set of applications
Distribute Model Predictive Control for Cooperative Intersection Management of Autonomous Vehicles - A Generalized Nash Equilibrium Approach
Escaping Local Minima via Appraisal Driven Responses
Inspired by the reflective and deliberative control mechanisms used in cognitive architectures such as SOAR and Sigma, we propose an alternative decision mechanism driven by architectural appraisals allowing robots to overcome impasses. The presented work builds on and improves on our previous work on a generally applicable decision mechanism with roots in the Standard Model of the Mind and the Generalized Cognitive Hour-glass Model. The proposed decision mechanism provides automatic context-dependent switching between exploration-oriented, goal-oriented, and backtracking behavior, allowing a robot to overcome impasses. A simulation study of two applications utilizing the proposed decision mechanism is presented demonstrating the applicability of the proposed decision mechanism