Integrating cognition, perception and action through metal simulation in robots

被引:41
作者
Cassimatis, NL [1 ]
Trafton, JG
Bugajska, MD
Schultz, AC
机构
[1] Rensselaer Polytech Inst, Dept Cognit Sci, Troy, NY 12180 USA
[2] USN, Res Lab, Washington, DC 20375 USA
关键词
cognitive robotics; knowledge representation; cognitive models;
D O I
10.1016/j.robot.2004.07.014
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
We argue that many problems in robotics arise from the difficulty of integrating multiple knowledge representation and inference techniques. We describe an architecture that integrates disparate reasoning, planning, sensation and mobility algorithms by composing them from strategies for managing mental simulations. Since simulations are conducted by modules that include high-level knowledge representation and inference techniques in addition to algorithms for sensation and reactive mobility, cognition, perception and action are continually integrated. An implemented robot using this framework in object-tacking and human-robot interaction tasks demonstrates that knowledge representation and inference techniques enable more complex and flexible robot behavior. (C) 2004 Elsevier B.V. All rights reserved.
引用
收藏
页码:13 / 23
页数:11
相关论文
共 10 条
[1]  
Agre P. E., 1990, Robotics and Autonomous Systems, V6, P17, DOI 10.1016/S0921-8890(05)80026-0
[2]   MAINTAINING KNOWLEDGE ABOUT TEMPORAL INTERVALS [J].
ALLEN, JF .
COMMUNICATIONS OF THE ACM, 1983, 26 (11) :832-843
[3]   INTELLIGENCE WITHOUT REPRESENTATION [J].
BROOKS, RA .
ARTIFICIAL INTELLIGENCE, 1991, 47 (1-3) :139-159
[4]  
Cassimatis N. L., 2002, THESIS MIT
[5]  
Cassimatis NL, 2003, P 10 INT WORKSH KNOW
[6]   STRIPS - NEW APPROACH TO APPLICATION OF THEOREM PROVING TO PROBLEM SOLVING [J].
FIKES, RE ;
NILSSON, NJ .
ARTIFICIAL INTELLIGENCE, 1971, 2 (3-4) :189-208
[7]  
HARNAD S, 1990, PHYSICA D, V42, P335, DOI 10.1016/0167-2789(90)90087-6
[8]  
Kaelbling L. P., 1998, ARTIFICIAL INTELLIGE
[9]  
Minsky Marvin, 1986, The Society of Mind
[10]  
REHRMANN V, 1998, COMPUTER VISION ACCV, V1, P598