We present HARMONIC, a framework for implementing cognitive robots that transforms general-purpose robots into trusted teammates capable of complex decision-making, natural communication and human-level explanation. The framework supports interoperability between a strategic (cognitive) layer for high-level decision-making and a tactical (robot) layer for low-level control and execution. We describe the core features of the framework and our initial implementation, in which HARMONIC was deployed on a simulated UGV and drone involved in a multi-robot search and retrieval task.
@article{arxiv.2409.18037,
title = {HARMONIC: A Framework for Explanatory Cognitive Robots},
author = {Sanjay Oruganti and Sergei Nirenburg and Marjorie McShane and Jesse English and Michael K. Roberts and Christian Arndt},
journal= {arXiv preprint arXiv:2409.18037},
year = {2024}
}
Comments
Accepted for presentation at ICRA@40. 23-26 September 2024, Rotterdam, Netherlands