Evolution of a Cognitive Architecture for Social Robots: Integrating Behaviors and Symbolic Knowledge

Martı́n, Francisco; Lera, Francisco Javier Rodríguez; Ginés, Jonatan; Olivera, Vicente Matellán

doi:10.3390/app10176067

Cited by 11 publications

(7 citation statements)

References 24 publications

(22 reference statements)

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“…By running on ROS2, PlanSys2 already has a large number of features related to security and predictability. ROSPlan is only capable of controlling one robot, and, in our experience, using it in various robotics research and competitions [26], it is not as efficient as we wished.…”

Section: Related Workmentioning

confidence: 83%

PlanSys2: A Planning System Framework for ROS2

Martı́n¹,

Ginés²,

Olivera³

et al. 2021

Preprint

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Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state machines are not enough. This paper contains a description of the ROS2 Planning System (PlanSys2 in short), a framework for symbolic planning that incorporates novel approaches for execution on robots working in demanding environments. PlanSys2 aims to be the reference task planning framework in ROS2, the latest version of the de facto standard in robotics software development. Among its main features, it can be highlighted the optimized execution, based on Behavior Trees, of plans through a new actions auction protocol and its multi-robot planning capabilities. It already has a small but growing community of users and developers, and this document is a summary of the design and capabilities of this project.

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Section: Related Workmentioning

confidence: 83%

PlanSys2: A Planning System Framework for ROS2

Martı́n¹,

Ginés²,

Olivera³

et al. 2021

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…Francis et al [12], in their survey, identified the following forms of context: cultural context [26,34,85,[215][216][217], environmental context, individuals diversity, task context, and interpersonal context, but their literature review in this area is narrow. The notion of context is usually regarded in the deliberative layer of the robot's planning and embedded as spatial or spatiotemporal constraints in the motion planning [17,218,219].…”

Section: Contextual Awarenessmentioning

confidence: 99%

Bridging Requirements, Planning, and Evaluation: A Review of Social Robot Navigation

Karwowski,

Szynkiewicz,

Niewiadomska-Szynkiewicz

2024

Sensors

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Navigation lies at the core of social robotics, enabling robots to navigate and interact seamlessly in human environments. The primary focus of human-aware robot navigation is minimizing discomfort among surrounding humans. Our review explores user studies, examining factors that cause human discomfort, to perform the grounding of social robot navigation requirements and to form a taxonomy of elementary necessities that should be implemented by comprehensive algorithms. This survey also discusses human-aware navigation from an algorithmic perspective, reviewing the perception and motion planning methods integral to social navigation. Additionally, the review investigates different types of studies and tools facilitating the evaluation of social robot navigation approaches, namely datasets, simulators, and benchmarks. Our survey also identifies the main challenges of human-aware navigation, highlighting the essential future work perspectives. This work stands out from other review papers, as it not only investigates the variety of methods for implementing human awareness in robot control systems but also classifies the approaches according to the grounded requirements regarded in their objectives.

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“…ROS has also been used in ROSBOT [184], a low-cost robotic platform with the capacities of obstacle avoiding navigation, face detection, and other social behaviors. Moreover, ROS was used in the implementation of cognitive mechanisms to allow robots to socially interact with humans [185][186][187]. Figure 5 shows another platform, the UXA-90 humanoid robot, developed to serve several purposes with 23 degrees of freedom and supporting ROS [188].…”

Section: Operating Systems and Other Softwarementioning

confidence: 99%

A Survey on Recent Advances in Social Robotics

et al. 2022

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Over decades, social robotics has evolved as a concept that presently covers different areas of application, and interacts with different domains in technology, education, medicine and others. Today, it is possible to envision social robots in tasks that were not expected years ago, and that is not only due to the evolution of social robots, but also to the evolution of the vision humans have for them. This survey addresses recent advances in social robotics from different perspectives. Different contexts and areas of application of social robots are addressed, as well as modalities of interaction with humans. Different robotic platforms used in social contexts are shown and discussed. Relationships of social robotics with advances in other technological areas are surveyed, and methods and metrics used for the human evaluation of the interaction with robots are presented. The future of social robotics is also envisioned based on surveyed works and from different points of view.

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Evolution of a Cognitive Architecture for Social Robots: Integrating Behaviors and Symbolic Knowledge

Cited by 11 publications

References 24 publications

PlanSys2: A Planning System Framework for ROS2

PlanSys2: A Planning System Framework for ROS2

Bridging Requirements, Planning, and Evaluation: A Review of Social Robot Navigation

A Survey on Recent Advances in Social Robotics

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