ARTICLE | doi:10.20944/preprints202211.0511.v1
Subject: Computer Science And Mathematics, Robotics Keywords: Cognitive Robotics; Cognitive Architecture; Appraisals; Reflective Control; Deliberate Control; Reactive Control; Variational Inference; Deadlocks; Probabilistic Programming Idiom; The Standard Model of the Mind
Online: 28 November 2022 (10:08:42 CET)
Inspired by the reflective and deliberative control mechanisms used in cognitive architectures such as SOAR and Sigma, we propose an alternative decision mechanism driven by architectural appraisals allowing robots to overcome impasses. The presented work builds on and improves on our previous work on a generally applicable decision mechanism with roots in the Standard Model of the Mind and the Generalized Cognitive Hour-glass Model. The proposed decision mechanism provides automatic context-dependent switching between exploration-oriented, goal-oriented, and backtracking behavior, allowing a robot to overcome impasses. A simulation study of two applications utilizing the proposed decision mechanism is presented demonstrating the applicability of the proposed decision mechanism.
ARTICLE | doi:10.20944/preprints202202.0053.v1
Subject: Computer Science And Mathematics, Robotics Keywords: Distributed Robotics; Probabilistic Robotics; Variational Inference; Message-Passing Algorithm; Stochastic Variational Inference
Online: 3 February 2022 (13:48:14 CET)
By combining stochastic variational inference with message passing algorithms we show how to solve the highly complex problem of navigation and avoidance in distributed multi-robot systems in a computationally tractable manner, allowing online implementation. Subsequently, the proposed variational method lends itself to more flexible solutions than prior methodologies. Furthermore, the derived method is verified both through simulations with multiple mobile robots and a real world experiment with two mobile robots. In both cases the robots shares the operating space and needs to cross each other’s paths multiple times without colliding.