Goal-Directed Reasoning and Cooperation in Robots in Shared Workspaces: An Internal Simulation-Based Neural Framework
Authors: Bhat A. A. & Mohan V.
Journal: Cognitive Computation
Tags: planning, simulation, cooperation, robotics, cognitive
Link: URL
Abstract:
In an industrial assembly task, two robots share workspace to assemble fuse-boxes. We describe coupled forward models of body and peripersonal space learned via exploration. Internal simulation evaluates action-consequence pairs, driving cooperative sequences even when solo goals are unachievable.
Methodology:
Each robot's body schema and peripersonal space are learned via self-organized map clustering. During run-time, action candidates are simulated in the forward model, scored by task reward. A shared planner sequences individual goals into cooperative behaviors.