Abstract
Handling complex tasks with increasing levels of autonomy requires robotic systems to incorporate a large number of different functionalities at various levels of abstraction, such as localisation, navigation, object detection and tracking, human robot interaction including speech and gesture recognition as well as high level reasoning and planning. The interaction between functionalities in these cognitive robotics systems not only requires integration at a technical level but more importantly at an organisational and semantic level. Within this contribution, these cognitive functionalities are encapsulated in software components with the objective to provide clearly specified interfaces to allow reuse in other cognitive vision or robotics systems. To arrive at the level of building a system from these functionalities, it is considered essential to provide a framework that coordinates the components. Two principles organise the components: (1) the service principle uses a ”yellow pages” directory to announce its capabilities and to select other components, and (2) the hierarchy principle orders components along data abstraction from signal to symbolic levels and ascertains that system response is reactive. The proposed system is demonstrated in a context-oriented system for activity interpretation involving functionalities such as tracking, object and gesture recognition, spatio-temporal object relationships and reasoning to extract symbolic activity descriptions.
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Zillich, M., Ponweiser, W., Vincze, M. (2012). A Software Integration Framework for Cognitive Systems. In: Hähnle, R., Knoop, J., Margaria, T., Schreiner, D., Steffen, B. (eds) Leveraging Applications of Formal Methods, Verification, and Validation. ISoLA 2011. Communications in Computer and Information Science, vol 336. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34781-8_9
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DOI: https://doi.org/10.1007/978-3-642-34781-8_9
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