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MERLIN a Cognitive Architecture for Service Robots
Article

Evolution of a Cognitive Architecture for Social Robots: Integrating Behaviors and Symbolic Knowledge

1
Intelligent Robotics Lab, Rey Juan Carlos University, 28943 Móstoles, Spain
2
Escuela de Ingenierías Industrial e Informática, University of León, 24007 León, Spain
3
Escuela Internacional de Doctorado, Rey Juan Carlos University, 28933 Móstoles, Spain
4
Supercomputación Castilla y León, SCAYLE, 24007 León, Spain
*
Author to whom correspondence should be addressed.
Appl. Sci. 2020, 10(17), 6067; https://doi.org/10.3390/app10176067
Received: 31 July 2020 / Revised: 24 August 2020 / Accepted: 26 August 2020 / Published: 1 September 2020
(This article belongs to the Special Issue Cognitive Robotics)
This paper presents the evolution of a robotic architecture intended for controlling autonomous social robots. The first instance of this architecture was originally designed according to behavior-based principles. The building blocks of this architecture were behaviors designed as a finite state machine and organized in an ethological inspired way. However, the need of managing explicit symbolic knowledge in human–robot interaction required the integration of planning capabilities into the architecture and a symbolic representation of the environment and the internal state of the robot. A major contribution of this paper is the description of the working memory that integrates these two approaches. This working memory has been implemented as a distributed graph. Another contribution is the use of behavior trees instead of state machine for implementing the behavior-based part of the architecture. This late version of the architecture has been tested in robotic competitions (RoboCup or European Robotics League, among others), whose performance is also discussed in this paper.
Keywords: robotic architectures; reactivity; planning; knowledge representation robotic architectures; reactivity; planning; knowledge representation
MDPI and ACS Style

Martín, F.; Rodríguez Lera, F.J.; Ginés, J.; Matellán, V. Evolution of a Cognitive Architecture for Social Robots: Integrating Behaviors and Symbolic Knowledge. Appl. Sci. 2020, 10, 6067. https://doi.org/10.3390/app10176067

AMA Style

Martín F, Rodríguez Lera FJ, Ginés J, Matellán V. Evolution of a Cognitive Architecture for Social Robots: Integrating Behaviors and Symbolic Knowledge. Applied Sciences. 2020; 10(17):6067. https://doi.org/10.3390/app10176067

Chicago/Turabian Style

Martín, Francisco, Francisco J. Rodríguez Lera, Jonatan Ginés, and Vicente Matellán. 2020. "Evolution of a Cognitive Architecture for Social Robots: Integrating Behaviors and Symbolic Knowledge" Applied Sciences 10, no. 17: 6067. https://doi.org/10.3390/app10176067

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