CORBYS cognitive control architecture for robotic follower
Author
Leu, Adrian
Ristic-Durrant, Danijela
Slavnic, Sinisa
Glackin, Cornelius
Salge, Christoph
Polani, D.
Badii, Atta
Khan, Ali
Raval, Rajkumar
Attention
2299/15598
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.