The Cognitive Controller (CoCo) is a new, three-tiered control architecture for autonomous agents that combines reactive and deliberative components. A behaviour-based reactive module ensures that the agent can gracefully handle the various real-time challenges of its environment, while a logic-based deliberative module endows the agent with the ability to "think ahead", performing more complex high-level tasks that require planning. A plan execution and monitoring module establishes an advisor-client relationship between the deliberative and reactive modules. We demonstrate CoCo in the context of space robotics - specifically the control of a vision-guided robotic manipulator that can autonomously capture a free-flying satellite in the presence of unforeseen mission anomalies.
CITATION STYLE
Qureshi, F., Terzopoulos, D., & Gillett, R. (2004). The cognitive controller: A hybrid, deliberative/reactive control architecture for autonomous robots. In Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) (Vol. 3029, pp. 1102–1111). Springer Verlag. https://doi.org/10.1007/978-3-540-24677-0_113
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