Escaping Local Minima via Appraisal Driven Responses

Malte Rørmose Damgaard*, Rasmus Pedersen, Thomas Bak

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Abstract

Inspired by the reflective and deliberative control mechanisms used in cognitive architectures such as SOAR and Sigma, we propose an alternative decision mechanism driven by architectural appraisals allowing robots to overcome impasses. The presented work builds on and improves on our previous work on a generally applicable decision mechanism with roots in the Standard Model of the Mind and the Generalized Cognitive Hour-glass Model. The proposed decision mechanism provides automatic context-dependent switching between exploration-oriented, goal-oriented, and backtracking behavior, allowing a robot to overcome impasses. A simulation study of two applications utilizing the proposed decision mechanism is presented demonstrating the applicability of the proposed decision mechanism.

OriginalsprogEngelsk
Artikelnummer153
TidsskriftRobotics
Vol/bind11
Udgave nummer6
ISSN2218-6581
DOI
StatusUdgivet - dec. 2022

Bibliografisk note

Publisher Copyright:
© 2022 by the authors.

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