MERLIN a Cognitive Architecture for Service Robots
Source abstract
Abstract
Many social robots deployed in public spaces hide hybrid cognitive architectures for dealing with daily tasks. Mostly, two main blocks sustain these hybrid architectures for robot behavior generation: deliberative and behavioral-based mechanisms. Robot Operating System offers different solutions for implementing these blocks, however, some issues arise when both are released in the robot. This paper presents a software engineering approach for normalizing the process of integrating them and presenting them as a fully cognitive architecture named MERLIN. Providing implementation details and diagrams for established the architecture, this research tests empirically the proposed solution using a variation from the challenge defined in the SciRoc @home competition. The results validate the usability of our approach and show MERLIN as a hybrid architecture ready for short and long-term tasks, showing better results than using a by default approach, particularly when it is deployed in highly interactive scenarios.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: AI-based Problem Solving and Planning · Robotics and Automated Systems · Advanced Software Engineering Methodologies
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Grupo de Robótica, Universidad de León, Campus Vegazana, s/n, 24007 León, Spain
Funding
Ministerio de Ciencia, Innovación y Universidades
References (33)
Show source-provided references
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