RT Journal Article
T1 The CORTEX Cognitive Robotics Architecture: use cases
A1 Bustos, Pablo
A1 Manso, Luis J.
A1 Bandera-Rubio, Antonio Jesús
A1 Bandera-Rubio, Juan Pedro
A1 García-Varea, Ismael
A1 Martínez-Gómez, Jesús
K1 Autómatas -- Sistemas de control
AB CORTEX is a cognitive robotics architecture inspired by three key ideas: modularity, internal modelling and graph representations. CORTEX is also a computational framework designed to support early forms of intelligence in real world, human interacting robots, by selecting an a priori functional decomposition of the capabilities of the robot. This set of abilities was then translated to computational modules or agents, each one built as a network of software interconnected components. The nature of these agents can range from pure reactive modules connected to sensors and/or actuators, to pure deliberative ones, but they can only communicate with each other through a graph structure called Deep State Representation (DSR). DSR is a short-term dynamic representation of the space surrounding the robot, the objects and the humans in it, and the robot itself. All these entities are perceived and transformed into different levels of abstraction, ranging from geometric data to high-level symbolic relations such as ‘‘the person is talking and gazing at me”. The combination of symbolic and geometric information endows the architecture with the potential to simulate and anticipate the outcome of the actions executed by the robot. In this paper we present recent advances in the CORTEX architecture and several real-world human-robot interaction scenarios in which they have been tested. We describe our interpretation of the ideas inspiring the architecture and the reasons why this specific computational framework is a promising architecture for the social robots of tomorrow.
PB Elsevier
YR 2019
FD 2019-01-19
LK https://hdl.handle.net/10630/34288
UL https://hdl.handle.net/10630/34288
LA eng
NO Bustos, P., Manso, L. J., Bandera, A. J., Bandera, J. P., García-Varea, I., & Martínez-Gómez, J. (2019). The CORTEX cognitive robotics architecture: Use cases. Cognitive Systems Research, 55, 107–123. https://doi.org/10.1016/j.cogsys.2019.01.003
NO - FEDER funds and the Spanish Government (MINECO) through projects TIN2015-65686-C5 and ‘‘Red de Agentes Físicos” Excelence Network TIN2015-71693-REDT.- Group Consolidation Grants from the Regional Goverment of Extremadura, 2016 (GR1520). - European Union ECHORD++ project (FP7-ICT-601116).
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026