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.
Highlights
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)
In SS-RICS, the strengthening and decay of memory elements is taken from the activation function described in the Atomic Components of Thought-Rational (ACT-R) cognitive architecture (Anderson and Lebiere, 1998)
Summary
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). 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 field of knowledge representation in cognitive psychology has been embattled in a struggle to quantify knowledge structures as either symbolic or subsymbolic (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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