Cognitive Synergy Architecture: SEGO for Human-Centric Collaborative Robots

Jaehong Oh

Cognitive Synergy Architecture: SEGO for Human-Centric Collaborative Robots

Robotics 2025-06-17 v1 Systems and Control Systems and Control

Authors: Jaehong Oh

Abstract

This paper presents SEGO (Semantic Graph Ontology), a cognitive mapping architecture designed to integrate geometric perception, semantic reasoning, and explanation generation into a unified framework for human-centric collaborative robotics. SEGO constructs dynamic cognitive scene graphs that represent not only the spatial configuration of the environment but also the semantic relations and ontological consistency among detected objects. The architecture seamlessly combines SLAM-based localization, deep-learning-based object detection and tracking, and ontology-driven reasoning to enable real-time, semantically coherent mapping.

Keywords

knowledge graph

Cite

@article{arxiv.2506.13149,
  title  = {Cognitive Synergy Architecture: SEGO for Human-Centric Collaborative Robots},
  author = {Jaehong Oh},
  journal= {arXiv preprint arXiv:2506.13149},
  year   = {2025}
}

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