Marfil, RebecaManso, Luis J.Bandera, Juan PedroRomero Garcés, AdriánBandera, AntonioBustos, PabloCalderita, Luis VicenteGonzález Dorado, José CarlosGarcía Olaya, ÁngelFuentetaja Pizán, RaquelFernández Rebollo, Fernando2020-06-192020-06-192016-06-16Fernandez Rebollo, Fernando; Fuentetaja Pizan, Raquel; Garcia Olaya, Angel; Gonzalez Dorado, Jose Carlos; Bandera, Antonio; Romero Garcés, Adrián; Marfil, Rebeca; Bandera, Juan Pedro; Manso, Luis J.; Bustos, Pablo; Calderita, Luis V. (2016). Percepts symbols or Action symbols? Generalizing how all modules interact within a software architecture for cognitive robotics. XVII Workshop of physical agents: Book of proceedings. Málaga : Universidad De Málaga (Uma). Pp. 9-16978-84-608-8176-6https://hdl.handle.net/10016/30621Robots 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.eng© 2016 Servicio de Publicaciones de la Universidad de MalagaAtribución-NoComercial-SinDerivadas 3.0 EspañaCognitive roboticsInner representationsSymbol groundingconference outputInformáticaopen access916XVII Workshop of physical agents: Book of proceedingsCC/0000030381