Use of cognitive robotics logic in a double helix architecture for autonomous systems
Linköping University, Department of Computer and Information Science, CASL - Cognitive Autonomous Systems Laboratory
Linköping University, The Institute of Technology
Conference paper (Refereed)
Advances in Plan-Based Control of Robotic Agents: Revised Papers from the International Seminar at Dagstuhl Castle
Lecture Notes in Computer Science, ISSN 0302-9743; 2466
Engineering and Technology
This paper addresses the two-way relation between the architecture for cognitive robots on one hand, and a logic of action and change that is adapted to the needs of such robots on the other hand. The relation goes both ways: the logic is used within the architecture, but we also propose that an abstract model of the cognitive robot architecture shall be used for defining the semantics of the logic. For this purpose, we describe a novel architecture called the Double Helix Architecture which, unlike earlier proposals, emphasizes a precise account of the metric discrete timeline and the computational processes that take place along that timeline. The computational model of the Double Helix Architecture corresponds to the semantics of the logic being used, namely the author's Cognitive Robotics Logic which is based on the 'Features and Fluents' theory.