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Proceedings Paper

Cognitive robotics using vision and mapping systems with Soar
Author(s): Lyle N. Long; Scott D. Hanford; Oranuj Janrathitikarn
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Paper Abstract

The Cognitive Robotic System (CRS) has been developed to use the Soar cognitive architecture for the control of unmanned vehicles and has been tested on two heterogeneous ground robots: a six-legged robot (hexapod) and a wheeled robot. The CRS has been used to demonstrate the applicability of Soar for unmanned vehicles by using a Soar agent to control a robot to navigate to a target location in the presence of a cul-de-sac obstacle. Current work on the CRS has focused on the development of computer vision, additional sensors, and map generating systems that are capable of generating high level information from the environment that will be useful for reasoning in Soar. The scalability of Soar allows us to add more sensors and behaviors quite easily.

Paper Details

Date Published: 28 April 2010
PDF: 9 pages
Proc. SPIE 7710, Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2010, 77100J (28 April 2010); doi: 10.1117/12.853684
Show Author Affiliations
Lyle N. Long, The Pennsylvania State Univ. (United States)
Scott D. Hanford, The Pennsylvania State Univ. (United States)
Oranuj Janrathitikarn, The Pennsylvania State Univ. (United States)


Published in SPIE Proceedings Vol. 7710:
Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2010
Jerome J. Braun, Editor(s)

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