The cognitive controller: a hybrid, deliberative/reactive control architecture for autonomous robots

  • Authors:

  • Faisal Qureshi;Demetri Terzopoulos;Ross Gillett

  • Affiliations:

  • Department of Computer Science, University of Toronto, Toronto, ON, Canada;Department of Computer Science, University of Toronto, Toronto, ON, Canada and Courant Institute, New York University, New York, NY;System Design Department, MD Robotics Limited, Brampton, ON, Canada

  • Venue:
  • IEA/AIE'2004 Proceedings of the 17th international conference on Innovations in applied artificial intelligence
  • Year:
  • 2004

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Abstract

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.