research-article

The CORTEX cognitive robotics architecture: : Use cases

Authors:

I. García-Varea,

J. Martínez-GómezAuthors Info & Claims

Volume 55, Issue C

Pages 107 - 123

https://doi.org/10.1016/j.cogsys.2019.01.003

Published: 01 June 2019 Publication History

Abstract

CORTEX is a cognitive robotics architecture inspired by three key ideas: modularity, internal modelling and graph representations. CORTEX is also a computational framework designed to support early forms of intelligence in real world, human interacting robots, by selecting an a priori functional decomposition of the capabilities of the robot. This set of abilities was then translated to computational modules or agents, each one built as a network of software interconnected components. The nature of these agents can range from pure reactive modules connected to sensors and/or actuators, to pure deliberative ones, but they can only communicate with each other through a graph structure called Deep State Representation (DSR). DSR is a short-term dynamic representation of the space surrounding the robot, the objects and the humans in it, and the robot itself. All these entities are perceived and transformed into different levels of abstraction, ranging from geometric data to high-level symbolic relations such as “the person is talking and gazing at me”. The combination of symbolic and geometric information endows the architecture with the potential to simulate and anticipate the outcome of the actions executed by the robot. In this paper we present recent advances in the CORTEX architecture and several real-world human-robot interaction scenarios in which they have been tested. We describe our interpretation of the ideas inspiring the architecture and the reasons why this specific computational framework is a promising architecture for the social robots of tomorrow.

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Cited By

Mronga DBresser AMaas genannt Bermpohl FDanzglock AStelter SHawkin ANguyen HBeetz MKirchner F(2024)MARLINRobotics and Autonomous Systems10.1016/j.robot.2024.104654175:COnline publication date: 1-May-2024
https://dl.acm.org/doi/10.1016/j.robot.2024.104654
Loza-Matovelle DZuñiga CZalama EGómez-García-Bermejo J(2023)Task Planning System with Priority for AAL EnvironmentsJournal of Intelligent and Robotic Systems10.1007/s10846-023-01806-5107:2Online publication date: 25-Jan-2023
https://dl.acm.org/doi/10.1007/s10846-023-01806-5
Dal Moro DRobol MRoveri MGiorgini P(2022)Developing BDI-Based Robotic Systems with ROS2Advances in Practical Applications of Agents, Multi-Agent Systems, and Complex Systems Simulation. The PAAMS Collection10.1007/978-3-031-18192-4_9(100-111)Online publication date: 13-Jul-2022
https://dl.acm.org/doi/10.1007/978-3-031-18192-4_9
Show More Cited By

Index Terms

The CORTEX cognitive robotics architecture: Use cases
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Artificial intelligence
    1. Knowledge representation and reasoning
      1. Cognitive robotics
  2. Machine learning
    1. Machine learning approaches
      1. Neural networks

Index terms have been assigned to the content through auto-classification.

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Published In

cover image Cognitive Systems Research

Cognitive Systems Research Volume 55, Issue C

Jun 2019

262 pages

ISSN:1389-0417

Issue’s Table of Contents

Elsevier B.V.

Publisher

Elsevier Science Publishers B. V.

Netherlands

Publication History

Published: 01 June 2019

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Cited By

Mronga DBresser AMaas genannt Bermpohl FDanzglock AStelter SHawkin ANguyen HBeetz MKirchner F(2024)MARLINRobotics and Autonomous Systems10.1016/j.robot.2024.104654175:COnline publication date: 1-May-2024
https://dl.acm.org/doi/10.1016/j.robot.2024.104654
Loza-Matovelle DZuñiga CZalama EGómez-García-Bermejo J(2023)Task Planning System with Priority for AAL EnvironmentsJournal of Intelligent and Robotic Systems10.1007/s10846-023-01806-5107:2Online publication date: 25-Jan-2023
https://dl.acm.org/doi/10.1007/s10846-023-01806-5
Dal Moro DRobol MRoveri MGiorgini P(2022)Developing BDI-Based Robotic Systems with ROS2Advances in Practical Applications of Agents, Multi-Agent Systems, and Complex Systems Simulation. The PAAMS Collection10.1007/978-3-031-18192-4_9(100-111)Online publication date: 13-Jul-2022
https://dl.acm.org/doi/10.1007/978-3-031-18192-4_9
Dal Moro DRobol MRoveri MGiorgini P(2022)A Demonstration of BDI-Based Robotic Systems with ROS2Advances in Practical Applications of Agents, Multi-Agent Systems, and Complex Systems Simulation. The PAAMS Collection10.1007/978-3-031-18192-4_40(473-479)Online publication date: 13-Jul-2022
https://dl.acm.org/doi/10.1007/978-3-031-18192-4_40

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