MERLIN2: MachinEd Ros 2 pLanINg

被引：4
|
作者：
Gonzalez-Santmarta, Miguel A. [1 ]
Rodriguez-Lera, Francisco J. [1 ]
Fernandez-Llamas, Camino [1 ]
Matellan-Olivera, Vicente [1 ]
机构：
[1] Univ Leon, Grp Robot, Campus Vegazana S-N, Leon 24007, Spain
来源：
SOFTWARE IMPACTS | 2023年 / 15卷
关键词：
Cognitive robotics; Hybrid architecture; Symbolic planning; Finite state-machines; Reactivity; Knowledge managing; INTELLIGENT; PDDL;
D O I：
10.1016/j.simpa.2023.100477
中图分类号：
TP31 [计算机软件];
学科分类号：
081202 ; 0835 ;
摘要：
Any service robot should be able to make decisions and schedule tasks to reach predefined goals such as opening a door or assisting users at home. However, these processes are not single short-term tasks anymore and it is required to set long-term skills for establishing a control architecture that allows robots to perform daily tasks. This paper presents MERLIN2, a hybrid cognitive architecture based on symbolic planning and state machine decision-making systems that allows performing robot behaviors. The architecture can run in any robot running ROS 2, the latest version of the Robot Operative System. MERLIN2 is available at https://github.com/MERLIN2-ARCH/merlin2.
引用
收藏
页数：4
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