Lecture 7 - Cognitive Skills for a Robot Flashcards
Software Engineering Robot Control
- Real-time control: Supports event-based reactive, and distributed interactions between sensors, motors, and algorithms
- Reuse: Architecture is generic and abstract from specific robot platforms.
- Robustness: Ensures robust robot behavior and graceful degradation of task performance in case of failures
SPA
A classic version of a pipeline architecture
Uses a world model instead of real word parameters
Subsumption Architecture
Roomba uses it. Rule-based.
SPA Benefits and Issues
+ Integrates symbolic and non-symbolic techniques
- Robot control slow
- Not very robust
Subsumption Architecture Benefits and issues
+ Fast due to focus on behavior and tight sensor-behavior coupling.
+ It is reactive, able to handle the dynamic world.
- Difficult to compose behaviors to achieve long-range goals.
- Almost impossible to optimize
3T or Layered architectures
- 3T: Highest deliberative layer responsible for task-planning and achieving long- term goals of the robot with given constraints.
- 2T: Middle executive or sequence layer responsible for choosing the current behaviors of the robot to achieve a task
- 1T: Lowest behavioral control or skills layer responsible for controlling sensors and actuators
Layered architectures Benefits and issues
+ Rich architecture, with different levels of abstractions and clear roles: Planning, execution, and control.
- Complex: Many ways to instantiate 3T.
- How many layers are needed?
Social Interaction Architecture (SIA)
Support for:
- emotions
- high-level dialog
- Model other agents
- Use social cues
- Explain behavior
- Learn from interaction
How to implement SIA?
- General purpose languages
- Cognitives agents
- T3
Cognitive state
Has domain knowledge, beliefs and goals represented. The agent program makes use of the states.
- Usually a 2-layered architecture. (Cognitive symbolic and sub-symbolic)
Symbolic layer
- Fast
- Unconscious
- Automatic
- Everyday decisions
- Error prone
Sub-symbolic layer
- Slow
- Conscious
- Effortful
- Complex decisions
- Reliable
Persistence
Extend architecture to integrate database technology.
Usually for high-level knowledge representation
Cloud Robotics
One or more robots that rely on on either data or code from a network
Cloud Robotics Benefits and challenges
+ Everything is in the cloud with easy access
- Network unreliability
- Privacy and security
- Service integration
