Robot Software Architectures

• Mostrobotsystemsareadhoccombina2onsofcomponents

• Supportedbyso7warearchitectures(e.g.ROS)

• Noprincipledwayofcombiningcomponents

• Noprincipledwayofextendingsystemorcomponentsthroughlearning

Robotso7warearchitectures

Cogni2veArchitecturesforRobots

Long-Term Conceptual

Memory

Short-Term Belief

Memory

Short-Term Goal Memory

Conceptual Inference

Skill Execution

Perception

Environment

Perceptual Buffer

Problem Solving Skill Learning

Motor Buffer

Skill Retrieval and Selection

Long-Term Skill Memory

• Howtointegratethesespecialisedcomponents?

• Whatisanappropriatearchitecture?

Icarus – Langley

World ModelPerception Action

Agent Architecture

Sensors Actuators

Monitor / Goal Selection

Albus - RCS Nilsson - Triple Tower

World Model

Perception Action

World ModelPerception Action

ScalesintheHierarchy

• General,determinis2c,persistent,slow,humanreadable

• Specialised,stochas2c,transient,fast,unreadable

Nilsson’s Triple Tower

RCS(Albus)

Robot Operating System (ROS)

ROS Node Topic

ROS Node

ROS NodeROS

NodeROS Node

Topic

Blackboards

• Agentscommunicatebypos2ngobjectstoblackboard

• Objectsare2mestampedandloggedtoadatabase

• enablesintrospec2onandlearning

• Anagentsubscribestoobjectsofspecifiedtypes

• Agentisac2vatedwhenobjectoftherighttypeisposted

BB

DB

IBB

BB

DB

IBB

BB

DB

IBB

speech recognition

“pick up the green ball”

<postal-address> ::= <name-part> <street-address><name-part> ::= <personal-part> <last-name> <opt-jr><personal-part> ::= <first-name> | <initial> "." <street-address> ::= <opt-apt-num> <house-num> <street><zip-part> ::= <town-name> "," <state-code> <ZIP-code><opt-jr-part> ::= "Sr." | "Jr." | <roman-numeral> | ""

pickup(B)

move(..)

contact

colour recognition

depth analysis

audio input

motor actions

tactile sensors

planner

natural language processing

stereocamera

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