Cognitive Robots (Physically Situated Cognition)


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Overview

This research area is addressing embodiment and physical situation issues using the architectures discussed in the agents pages. Various pieces of hardware are being pulled together for this work including five Amgibots, one Pioneer P3DX and a NEXUS arduino platform. See Self Organising Cognitive Architectures for an overview. The AmigoBots now carry a Raspberry Pi B+ as the onboard computer connected to the AmigoBot microcontroller, a camera and WiFi. One of the amgigobots has been extended with an omni-directional camera and used in the Robo-CAMAL research. The Pioneer P3DX has being used for the Cerno-CAMAL project. It is now being upgraded with an onboard embedded cmputer for work on distributed cognitive architectures.

The idea is to develop interesting robotic testbeds that demonstrate the effectiveness of the cognitive architectures research in the domain of robots. It ties with other's research in the Department on Pervasive Intelligence and Intelligent Environments for Robots. The first research objective was to establish how the architectures developed in the work on: Agents And Cognition and Computational Architectures map from simulation to physically situated agents.

Of particular interest is the linking of perception, action and thought (motivation, affect and rationality) through the use of heterogeneous, distributed mobile platforms (based on the modified AmigaBots, the Pioneer P3DX, and the Nexus. A set of smaller robots provide a basic platform for simple swarm behaviour - see Dancing Robots!

We developed an Omni-Directional (one camera-one mirror) panoramic vision system for global viewpoints and obstacle avoidance. The data from this sensory apparatus, sonar arrays and other cameras provides fuel to investigate the generation of (egocentric and alocentric) maps, the anchoring problem and cognitive vision.     The   A-CRIBB and motivational construct research   provides a cognitive framework which is being brought together in a subsumption architecture with an extended version of the SRI Saphira architecture [ Konolige et al].

The research into Architectures for distributed cognition addresses a number of questions nsuch as: How to do distributed cognition making use of both Pervasive Intelligence and Adaptive (distributed mobile) Control; How to build domain and task models, and in particular Perception, Tasks and Spatial Reasoning; and How to generate BDI models, and the issues in instantiating a tested and reliable reasoning model.

Robot Specific Publications

Reasoning with BDI Robots: From simulation to physical environment Implementations and Limitations
   Darryl N Davis, Shylaja Kanaganapalli Ramulu, Journal of Behavioural Robotics, Volume 8, 2017.
Combining depth and intensity images to produce enhanced object detection for use in a robotic colony
   Steven Balding & Darryl N Davis, 18th Towards Autonomous Robotic Systems (TAROS) Conference, University of Surrey, July 2017.
Analysis of the EPSRC Principles of Robotics in Regard to Key Research Topics
   A. Gning, D. Davis, Y Cheng, P. Robinson D.N. Connection Science, Volume 29, Issue 3, pp249-253, May 2017.
Robotics Research Ethics Discussion
   A. Gning, D. Davis, Y Cheng, P. Robinson D.N. AISB Workshop on Principles of Robotics, April 4th 2016, Sheffield UK 2016.
Probabilistic BDI in a Cognitive Robot Architecture
   D.N. Davis & H. Miri   Journal of Computer Science and Artificial Intelligence. Vol.2 No.3: 1-10, September, 2012.
Cognitive Architectures for Affect and Motivation
   D.N. Davis    Early draft of paper to be published in Cognitive Computation. Volume 2(3), September 2010.
robo-CAMAL: A BDI Motivational Robot
   D.N. Davis & J. Gwatkin    Early draft of paper to be published in Journal of Behavioral Robotics, 1(2), July 2010.
Robo-CAMAL: Anchoring in a Cognitive Robot
   James Gwatkin,    (Draft) PhD Thesis, Department of Computer Science, University of Hull, March 2009
Motivated Control of Multiple Reactive Architectures
   J. Gwatkin & D.N. Davis    TAROS 2006, Towards Autonomous Robotic Systems, September 2006.

See the

Robo-CAMAL research.
Cerno-CAMAL project
machine vision
Robot Group

pages for some other information.

We also do Five Aside Robotic Football (badly!)
Build Virtual Robots at the BBC!



File maintained by Dr D.N.Davis@hull.ac.uk
Last Updated September 2017