ARCog: An Aerial Robotics Cognitive Architecture
Milena F. Pinto, Leonardo de Mello Honório, André Luís Marques Marcato, Mário A. R. Dantas, Aurélio G. Melo, Miriam A. M. Capretz, Cristina Urdiales
Abstract
SUMMARY Efficient algorithm integration is a key issue in aerial robotics. However, only a few integration solutions rely on a cognitive approach. Cognitive approaches break down complex problems into independent units that may deal with progressively lower-level data interfaces, all the way down to sensors and actuators. A cognitive architecture defines information flow among units to produce emergent intelligent behavior. Despite the improvements in autonomous decision-making, several key issues remain open. One of these issues is the selection, coordination, and decision-making related to the several specialized tasks required for fulfilling mission objectives. This work addresses decision-making for the cognitive unmanned-aerial-vehicle architecture coined as ARCog. The proposed architecture lays the groundwork for the development of a software platform aligned with the requirements of the state-of-the-art technology in the field. The system is designed to provide high-level decision-making. Experiments prove that ARCog works correctly in its target scenario.