Embedded Architecture Composed of Cognitive Agents and ROS for Programming Intelligent Robots

摘要

This paper proposes and evaluates an embedded architecture aimed to promote the utilization of cognitive agents in cooperation with the Robotic Operating System (ROS), serving as an alternative for programming intelligent robots. It promotes the programming abstraction level in two directions. The first direction regards using cognitive agents facilities for programming the robots intelligence, consisting of its perceptions and related actions. The second direction exploits the facilities of using ROS layers for programming the robot interaction with its sensors and actuators. The paper reports experiments of using agents to command simulated UAVs while measuring performance metrics that allowed us to evaluate the benefits of the proposed architecture.