CORBYS cognitive control architecture for robotic follower

Leu, Adrian, Ristic-Durrant, Danijela, Slavnic, Sinisa, Glackin, Cornelius, Salge, Christoph, Polani, D., Badii, Atta, Khan, Ali and Raval, Rajkumar (2013) CORBYS cognitive control architecture for robotic follower. In: 2013 IEEE/SICE International Symposium on System Integration (SII) :. Institute of Electrical and Electronics Engineers (IEEE), JPN, pp. 394-399. ISBN 978-1-4799-2625-1
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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.


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