TitleIntegrating Cognition, Perception and Action through Mental Simulation in Robots
Publication TypeJournal Article
Year of Publication2004
AuthorsCassimatis, N, Trafton, JG, Bugajska, MD, Schultz, AC
JournalJournal of Robotics and Autonomous Systems
Volume49
Issue1-2
Pagination12-23
Abstract

We argue that many problems in robotics arise from the difficulty of integrating multiple knowledge representation and
inference techniques.We describe an architecture that integrates disparate reasoning, planning, sensation and mobility algorithms
by composing them from strategies for managing mental simulations. Since simulations are conducted by modules that include
high-level knowledge representation and inference techniques in addition to algorithms for sensation and reactive mobility,
cognition, perception and action are continually integrated. An implemented robot using this framework in object-tacking and
human–robot interaction tasks demonstrates that knowledge representation and inference techniques enable more complex and
flexible robot behavior.

Full Text
pdf: 
http://www.nrl.navy.mil/itd/aic/sites/www.nrl.navy.mil.itd.aic/files/pdfs/cassimatis.integration04.pdf
NRL Publication Release Number: 
4-1226-3143 4-1226-3517
pub_tags: 
cognitive robotics
mental simulation
HRI
perception