NDLI: Cognitive Hybrid Control of an Autonomous Agent

Content Provider	IEEE Xplore Digital Library
Author	Lara, B. Hermosillo, J.
Copyright Year	2008
Description	Author affiliation: Fac. de Cienc., UAEM, Cuernavaca (Lara, B.; Hermosillo, J.)
Abstract	In this paper, we investigate the coupling of two different cognitive modules, within the framework of embodied cognition. On one hand, an artificial agent is let to interact with its environment in order to learn the prediction of multi-modal sensory situations. The agent, makes use of a forward model as a basic cognitive tool. The trained system learns to successfully predict a multi-modal sensory representation of obstacles, formed by visual and tactile stimuli. On the other hand we synthesize a Bayesian controller to produce an obstacle avoidance behaviour. Using a real robot, the trained forward model and the Bayesian controller are coupled to solve a low-level task. The forward model is fed a covert motor command. When the covert motor command produces a collision-free sensory prediction the motor command is executed. When this is not the case, the Bayesian controller produces a motor command providing a collision free sensory situation by means of probabilistic reasoning. Experiments show that the coupling allows the robot to safely navigate among obstacles in its environment.
Starting Page	526
Ending Page	531
File Size	372971
Page Count	6
File Format	PDF
ISBN	9780769533209
DOI	10.1109/CERMA.2008.20
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-30
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Action Neural Networks Cognition Bayesian Networks Bayesian methods Robot sensing systems Perception Data models Collision avoidance Robots Pixel Forward Models
Content Type	Text
Resource Type	Article

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