Development of a mobile robot system based on the soar cognitive architecture

Scott D. Hanford, Lyle Norman Long

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

Cognitive architectures, computer programs that define mechanisms that are important for domain-independent intelligent behavior, have the potential for generating intelligent and autonomous behavior in unmanned vehicles. The cognitive robotic system has demonstrated how the Soar cognitive architecture can be integrated with common robotic motor and perceptual systems that complement the strengths of Soar for unmanned vehicle control. The cognitive robotic system has been tested using an indoor search mission, during which the cognitive robotic system searches a building for common intersection types and an object of interest using information from robotic mapping, computer vision, and fuzzy logic algorithms. The Soar agent builds a topological map of the environment, using information about the intersections the cognitive robotic system detects, and it uses this topological model to make intelligent decisions about how to effectively search the building. Once the object of interest has been detected, the Soar agent uses the topological map to make decisions about how to efficiently return to the location where the mission started as well as to generate step-by-step directions using the intersections in the environment as landmarks that describe a direct path from the mission's start location to the object of interest.

Original languageEnglish (US)
Pages (from-to)714-725
Number of pages12
JournalJournal of Aerospace Information Systems
Volume11
Issue number10
DOIs
StatePublished - Jan 1 2014

Fingerprint

Mobile robots
Robotics
Unmanned vehicles
Computer vision
Fuzzy logic
Computer program listings

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Hanford, Scott D. ; Long, Lyle Norman. / Development of a mobile robot system based on the soar cognitive architecture. In: Journal of Aerospace Information Systems. 2014 ; Vol. 11, No. 10. pp. 714-725.
@article{d8bc6898139a4852bcbcf3f380f9595d,
title = "Development of a mobile robot system based on the soar cognitive architecture",
abstract = "Cognitive architectures, computer programs that define mechanisms that are important for domain-independent intelligent behavior, have the potential for generating intelligent and autonomous behavior in unmanned vehicles. The cognitive robotic system has demonstrated how the Soar cognitive architecture can be integrated with common robotic motor and perceptual systems that complement the strengths of Soar for unmanned vehicle control. The cognitive robotic system has been tested using an indoor search mission, during which the cognitive robotic system searches a building for common intersection types and an object of interest using information from robotic mapping, computer vision, and fuzzy logic algorithms. The Soar agent builds a topological map of the environment, using information about the intersections the cognitive robotic system detects, and it uses this topological model to make intelligent decisions about how to effectively search the building. Once the object of interest has been detected, the Soar agent uses the topological map to make decisions about how to efficiently return to the location where the mission started as well as to generate step-by-step directions using the intersections in the environment as landmarks that describe a direct path from the mission's start location to the object of interest.",
author = "Hanford, {Scott D.} and Long, {Lyle Norman}",
year = "2014",
month = "1",
day = "1",
doi = "10.2514/1.I010191",
language = "English (US)",
volume = "11",
pages = "714--725",
journal = "Journal of Aerospace Information Systems",
issn = "1542-9423",
publisher = "American Institute of Aeronautics and Astronautics Inc. (AIAA)",
number = "10",

}

Development of a mobile robot system based on the soar cognitive architecture. / Hanford, Scott D.; Long, Lyle Norman.

In: Journal of Aerospace Information Systems, Vol. 11, No. 10, 01.01.2014, p. 714-725.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Development of a mobile robot system based on the soar cognitive architecture

AU - Hanford, Scott D.

AU - Long, Lyle Norman

PY - 2014/1/1

Y1 - 2014/1/1

N2 - Cognitive architectures, computer programs that define mechanisms that are important for domain-independent intelligent behavior, have the potential for generating intelligent and autonomous behavior in unmanned vehicles. The cognitive robotic system has demonstrated how the Soar cognitive architecture can be integrated with common robotic motor and perceptual systems that complement the strengths of Soar for unmanned vehicle control. The cognitive robotic system has been tested using an indoor search mission, during which the cognitive robotic system searches a building for common intersection types and an object of interest using information from robotic mapping, computer vision, and fuzzy logic algorithms. The Soar agent builds a topological map of the environment, using information about the intersections the cognitive robotic system detects, and it uses this topological model to make intelligent decisions about how to effectively search the building. Once the object of interest has been detected, the Soar agent uses the topological map to make decisions about how to efficiently return to the location where the mission started as well as to generate step-by-step directions using the intersections in the environment as landmarks that describe a direct path from the mission's start location to the object of interest.

AB - Cognitive architectures, computer programs that define mechanisms that are important for domain-independent intelligent behavior, have the potential for generating intelligent and autonomous behavior in unmanned vehicles. The cognitive robotic system has demonstrated how the Soar cognitive architecture can be integrated with common robotic motor and perceptual systems that complement the strengths of Soar for unmanned vehicle control. The cognitive robotic system has been tested using an indoor search mission, during which the cognitive robotic system searches a building for common intersection types and an object of interest using information from robotic mapping, computer vision, and fuzzy logic algorithms. The Soar agent builds a topological map of the environment, using information about the intersections the cognitive robotic system detects, and it uses this topological model to make intelligent decisions about how to effectively search the building. Once the object of interest has been detected, the Soar agent uses the topological map to make decisions about how to efficiently return to the location where the mission started as well as to generate step-by-step directions using the intersections in the environment as landmarks that describe a direct path from the mission's start location to the object of interest.

UR - http://www.scopus.com/inward/record.url?scp=84936879880&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84936879880&partnerID=8YFLogxK

U2 - 10.2514/1.I010191

DO - 10.2514/1.I010191

M3 - Article

VL - 11

SP - 714

EP - 725

JO - Journal of Aerospace Information Systems

JF - Journal of Aerospace Information Systems

SN - 1542-9423

IS - 10

ER -