CORBYS cognitive control architecture for robotic follower

Author

Leu, Adrian ; Ristic-Durrant, Danijela ; Slavnic, Sinisa ; Glackin, Cornelius ; Salge, Christoph ; Polani, Daniel ; Badii, Anush ; Khan, Ajmal ; Raval, Rajkumar

Author_Institution

Inst. of Autom., Univ. of Bremen, Bremen, Germany

fYear

2013

Firstpage

394

Lastpage

399

Abstract

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.

Keywords

cognitive systems; distributed control; human-robot interaction; mobile robots; path planning; robot dynamics; CORBYS; ROS-based communication; cognitive robot control architecture; distributed collaborative projects; distributed module; dynamic environment; high level empowerment-based trajectory planning; high-level cognitive module integration; human-robot interaction; multisite research environment; robot functioning; robotic follower; Computer architecture; Mobile robots; Robot control; Robot kinematics; Robot sensing systems; Safety;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration (SII), 2013 IEEE/SICE International Symposium on

Conference_Location

Kobe

Type

conf

DOI

10.1109/SII.2013.6776636

Filename

6776636