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Proceedings Paper

Practical robotic self-awareness and self-knowledge
Author(s): Douglas W. Gage
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Paper Abstract

The functional software components of an autonomous robotic system express behavior via commands to its actuators, based on processed inputs from its sensors; we propose an additional set of "cognitive" capabilities for robotic systems of all types, based on the comprehensive logging of all available data, including sensor inputs, behavioral states, and outputs sent to actuators. A robot should maintain a "sense" of its own (piecewise) continuous existence through time and space; it should in some sense "get a life," providing a level of self-awareness and self-knowledge. Self-awareness includes the ability to survive and work through unexpected power glitches while executing a task or mission. Selfknowledge includes an extensive world model including a model of self and the purpose context in which it is operating (deontics). Our system must support proactive self-test, monitoring, and calibration, and maintain a "personal" health/repair history, supporting system test and evaluation by continuously measuring performance throughout the entire product lifecycle. It will include episodic memory, and a system "lifelog," and will also participate in multiple modes of Human Robotic interaction (HRI).

Paper Details

Date Published: 23 May 2011
PDF: 8 pages
Proc. SPIE 8045, Unmanned Systems Technology XIII, 80450Z (23 May 2011); doi: 10.1117/12.884708
Show Author Affiliations
Douglas W. Gage, XPM Technologies (United States)

Published in SPIE Proceedings Vol. 8045:
Unmanned Systems Technology XIII
Douglas W. Gage; Charles M. Shoemaker; Robert E. Karlsen; Grant R. Gerhart, Editor(s)

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