The CORTEX cognitive robotics architecture: Use cases

Bustos, Pablo; Manso, Luis J.; Bandera, Antonio; Bandera, Juan Pedro; García-Varea, Ismael; Gómez, Jesús Martínez

doi:10.1016/j.cogsys.2019.01.003

Cited by 38 publications

(27 citation statements)

References 22 publications

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“…In this work, CORTEX cognitive architecture is used as the basis of the digital twin model. CORTEX is an architecture for autonomous robots that has been successfully used in several challenging applications [ 20 , 21 , 22 ]. This architecture is based on a set of software agents interacting through a Deep State Representation (DSR) [ 18 ].…”

Section: Cyber-physical System For Caregiving Centersmentioning

confidence: 99%

Designing a Cyber-Physical System for Ambient Assisted Living: A Use-Case Analysis for Social Robot Navigation in Caregiving Centers

Calderita

Vega

Barroso-Ramírez

et al. 2020

Sensors

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The advances of the Internet of Things, robotics, and Artificial Intelligence, to give just a few examples, allow us to imagine promising results in the development of smart buildings in the near future. In the particular case of elderly care, there are new solutions that integrate systems that monitor variables associated with the health of each user or systems that facilitate physical or cognitive rehabilitation. In all these solutions, it is clear that these new environments, usually called Ambient Assisted Living (AAL), configure a Cyber-Physical System (CPS) that connects information from the physical world to the cyber-world with the primary objective of adding more intelligence to these environments. This article presents a CPS-AAL for caregiving centers, with the main novelty that includes a Socially Assistive Robot (SAR). The CPS-AAL presented in this work uses a digital twin world with the information acquired by all devices. The basis of this digital twin world is the CORTEX cognitive architecture, a set of software agents interacting through a Deep State Representation (DSR) that stored the shared information between them. The proposal is evaluated in a simulated environment with two use cases requiring interaction between the sensors and the SAR in a simulated caregiving center.

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Section: Cyber-physical System For Caregiving Centersmentioning

confidence: 99%

Designing a Cyber-Physical System for Ambient Assisted Living: A Use-Case Analysis for Social Robot Navigation in Caregiving Centers

Calderita

Vega

Barroso-Ramírez

et al. 2020

Sensors

View full text Add to dashboard Cite

show abstract

“…The use of graphs is a further step in the representation of knowledge. This representation, based on vertices and arcs, provides a more flexible way of storing relationships among the elements stored in the graph than facts on a whiteboard [22]. Our proposal provides a memory that combines modularity and functionality, in addition to using a distributed approach.…”

Section: Evolution Of the Proposed Architecturementioning

confidence: 99%

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

et al. 2020

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This paper presents the evolution of a robotic architecture intended for controlling autonomous social robots. The first instance of this architecture was originally designed according to behavior-based principles. The building blocks of this architecture were behaviors designed as a finite state machine and organized in an ethological inspired way. However, the need of managing explicit symbolic knowledge in human–robot interaction required the integration of planning capabilities into the architecture and a symbolic representation of the environment and the internal state of the robot. A major contribution of this paper is the description of the working memory that integrates these two approaches. This working memory has been implemented as a distributed graph. Another contribution is the use of behavior trees instead of state machine for implementing the behavior-based part of the architecture. This late version of the architecture has been tested in robotic competitions (RoboCup or European Robotics League, among others), whose performance is also discussed in this paper.

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“…Specifically, the CLARC robot is endowed with the CORTEX cognitive architecture. Briefly, CORTEX can be described as a collection of agents that interact and cooperate to achieve a global goal using the so-called Deep State Representation (DSR) data structure [9,10]. The DSR is a short-term, graph-based dynamic representation of the space surrounding the robot, the objects and humans in it, and the robot itself.…”

Section: Software Architecturementioning

confidence: 99%

“…The platform description and the software architecture in charge of controlling CLARC is presented in Section 4. This design is based on the cognitive software architecture CORTEX [9,10], which will be augmented with the software components in charge of providing the expected QoS metrics. Section 5 details and discusses the execution of several tests and how our framework is able to monitor the specified non-functional properties at run-time.…”

Section: Introductionmentioning

confidence: 99%

Measuring Quality of Service in a Robotized Comprehensive Geriatric Assessment Scenario

et al. 2020

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Comprehensive Geriatric Assessment (CGA) is an integrated clinical process to evaluate frail elderly people in order to create therapy plans that improve their quality and quantity of life. The whole process includes the completion of standardized questionnaires or specific movements, which are performed by the patient and do not necessarily require the presence of a medical expert. With the aim of automatizing these parts of the CGA, we have designed and developed CLARC (smart CLinic Assistant Robot for CGA), a mobile robot able to help the physician to capture and manage data during the CGA procedures, mainly by autonomously conducting a set of predefined evaluation tests. Using CLARC to conduct geriatric tests will reduce the time medical professionals have to spend on purely mechanical tasks, giving them more time to develop individualised care plans for their patients. In fact, ideally, CLARC will perform these tests on its own. In parallel with the effort to correctly address the functional aspects, i.e., the development of the robot tasks, the design of CLARC must also deal with non-functional properties such as the degree of interaction or the performance. We argue that satisfying user preferences can be a good way to improve the acceptance of the robot by the patients. This paper describes the integration into the software architecture of the CLARC robot of the modules that allow these properties to be monitored at run-time, providing information on the quality of its service. Experimental evaluation illustrates that the defined quality of service metrics correctly capture the evolution of the aspects of the robot’s activity and its interaction with the patient covered by the non-functional properties that have been considered.

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The CORTEX cognitive robotics architecture: Use cases

Cited by 38 publications

References 22 publications

Designing a Cyber-Physical System for Ambient Assisted Living: A Use-Case Analysis for Social Robot Navigation in Caregiving Centers

Designing a Cyber-Physical System for Ambient Assisted Living: A Use-Case Analysis for Social Robot Navigation in Caregiving Centers

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

Measuring Quality of Service in a Robotized Comprehensive Geriatric Assessment Scenario

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