A Neural Schema Architecture for Autonomous Robots

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1998Author
Arkin, Ronald C.
Cervantes-Pérez, Francisco
Corbacho, Fernando
Olivares, Roberto
Weitzenfeld, Alfredo
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As autonomous robots become more complex in their behavior, more sophisticated software
architectures are required to support the ever more sophisticated robotics software. These
software architectures must support complex behaviors involving adaptation and learning,
implemented, in particular, by neural networks. We present in this paper a neural based schema
[2] software architecture for the development and execution of autonomous robots in both
simulated and real worlds. This architecture has been developed in the context of adaptive
robotic agents, ecological robots [6], cooperating and competing with each other in adapting to
their environment. The architecture is the result of integrating a number of development and
execution systems: NSL, a neural simulation language; ASL, an abstract schema language; and
MissionLab, a schema-based mission-oriented simulation and robot system. This work
contributes to modeling in Brain Theory (BT) and Cognitive Psychology, with applications in
Distributed Artificial Intelligence (DAI), Autonomous Agents and Robotics.