Programming Cognitive Robots

Budget Code: F1R-CSC-LAB-05ILIA
Funding: FNR - AFR
Start Date: May 20, 2011
End Date: May 20, 2017


Today’s service robots have emerging applications in domestic, military, health-care and entertainment domains. These applications demand ever increasing levels of intelligence and autonomy forming challenges of cognitive robotics. This is a branch of robotics that aims at studying and developing robots with reasoning capabilities needed to achieve complex goals in dynamic environments. Such robots require a processing architecture that allows them to perform high-level reasoning and deliberation about their information (i.e., beliefs and knowledge) and objectives (i.e., goals to achieve) in order to decide which actions to perform. Various agent programming languages have been proposed to support the implementation of similar cognitive architectures. However, these programming languages lack necessary supports for the management of a robot’s sensory data and the execution control of its plans. The aim of this research is to address how existing agent programming languages can be extended to deal with the sensory and action components of robotic systems in a systematic and modular way. The expected result of the thesis is software libraries to extend agent programming languages such as 2APL with an interface, a sensory and an action components. The interface component facilitate the integration of these languages with robotic frameworks such as ROS. The sensory component facilitates the processing and management of heterogeneous and asynchronous sensory events and reasoning on high-level events. The action component facilitates the representation of complex plans and the coordination of parallel execution of plans. A demo application for one or more NAO robots is to be demonstrated.