RT Conference Proceedings
T1 Percepts symbols or Action symbols? Generalizing how all modules interact within a software architecture for cognitive robotics
A1 Marfil, Rebeca
A1 Manso, Luis J.
A1 Bandera, Juan Pedro
A1 Romero Garcés, Adrián
A1 Bandera, Antonio
A1 Bustos, Pablo
A1 Calderita, Luis Vicente
A1 González Dorado, José Carlos
A1 García Olaya, Ángel
A1 Fuentetaja Pizán, Raquel
A1 Fernández Rebollo, Fernando
AB Robots require a close coupling of perception and action. Cognitive robots go beyond this to require a further coupling with cognition. From the perspective of robotics, this coupling generally emphasizes a tightly integrated perceptuomotor system, which is then loosely connected to some limited form of cognitive system such as a planner. At the other end, from the perspective of automated planning, the emphasis is on a highly functional system that, taken to its extreme, calls perceptual and motor modules as independent functions. This paper proposes to join both perspectives through a unique representation where the responses of all modules on the software architecture (percepts or actions) are grounded using the same set of symbols. This allows to generalize the signal-to-symbol divide that separates classic perceptuomotor and automated planning systems, being the result a software architecture where all software modules interact using the same tokens.
PB Universidad De Málaga (Uma)
SN 978-84-608-8176-6
YR 2016
FD 2016-06-16
LK https://hdl.handle.net/10016/30621
UL https://hdl.handle.net/10016/30621
LA eng
NO This paper has been partially supported by the Spanish Ministerio de Economía y Competitividad TIN2015-65686-C5 and FEDER funds and by the FP7 EU project ECHORD++ grant 601116 (CLARK project).
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RD 17 jul. 2024