CORBYS cognitive control architecture for robotic follower

In this paper the novel generic cognitive robot control architecture CORBYS is presented. The objective of the CORBYS architecture is the integration of high-level cognitive modules to support robot functioning in dynamic environments including interacting with humans. This paper presents the prelim...

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Bibliographic Details
Published inProceedings of the 2013 IEEE/SICE International Symposium on System Integration pp. 394 - 399
Main Authors Leu, Adrian, Ristic-Durrant, Danijela, Slavnic, Sinisa, Glackin, Cornelius, Salge, Christoph, Polani, Daniel, Badii, Atta, Khan, Ali, Raval, Rajkumar
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2013
Subjects
Computer architecture
Mobile robots
Robot control
Robot kinematics
Robot sensing systems
Safety
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Summary:In this paper the novel generic cognitive robot control architecture CORBYS is presented. The objective of the CORBYS architecture is the integration of high-level cognitive modules to support robot functioning in dynamic environments including interacting with humans. This paper presents the preliminary integration of the CORBYS architecture to support a robotic follower. Experimental results on high-level empowerment-based trajectory planning have demonstrated the effectiveness of ROS-based communication between distributed modules developed in a multi-site research environment as typical for distributed collaborative projects such as CORBYS.
DOI:10.1109/SII.2013.6776636