Abstract: This paper describes the ongoing development of a robotic control architecture that was inspired by computational cognitive architectures from the discipline of cognitive psychology. The robotic control architecture combines symbolic and subsymbolic representations of knowledge into a unified control structure. The architecture is organized as a goal driven, serially executing, production system at the highest symbolic level; and a multiple algorithm, parallel executing, simple collection of algorithms at the lowest subsymbolic level. The goal is to create a system that will progress through the same cognitive developmental milestones as do human infants. Common robotics problems of localization, object recognition, and object permanence are addressed within the specified framework.
Keywords: Robotic architecture; cognitive architecture; robotic control; cognitive psychology
1. Problem Statement
What constitutes a mind? How can a mind be developed for a robot? These are obviously difficult questions. The approach outlined here attacks the problem from the cognitive psychological perspective, with the development of the Symbolic and Subsymbolic Robotic Intelligence Control System (SS-RICS).
Cognitive psychologists have made enormous progress in understanding and modeling the human mind over the past two decades; moreover, psychologists have had great success in implementing human cognitive theories computationally (Anderson & Lebiere, 1998). The implementation of human cognitive function in a computational format has allowed cognitive theories to become more bounded, rigorous, and testable. This development has allowed for cognitive theories to be implemented on computer systems, to include robotic systems.
The work described here is a brief overview the SS-RICS. The system is intended to be a theory of robotic cognition based on human cognition. Additionally, a thrust of SS- RICS has been on the integration of theories within the field of cognitive psychology - primarily theories of knowledge representation and organization. The field of knowledge representation in cognitive psychology has been embattled in a struggle to quantify knowledge structures as either symbolic or subsymbolic (Kelley, 2003). Symbolic knowledge is characterized as static, discrete, and conscious. Language is a symbolic representation of knowledge. Subsymbolic representations of knowledge has been characterized as dynamic, distributed, and unconscious. Typically, perceptual or motor skills are characterized as subsymbolic knowledge. Riding a bicycle can be characterized as subsymbolic knowledge. Within SS- RICS, these two representations of knowledge are not mutually exclusive, but instead, lie on either ends of a cognitive continuum (Kelley, 2003). SS-RICS is a hybrid cognitive system that allows for a continuum of knowledge that includes both symbolic as well as subsymbolic constructs. It is believed that this integrated approach is the best way to represent the complete spectrum of cognition.
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Troy Dale Kelley
Army Research Laboratory U.S. Army Research Laboratory Human Research and Engineering Directorate AMSRD-ARL-HR-SE, APG, MD 21005 tkelley@arl.army.mil
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