Abstract
Robotics Cognitive Architectures (RCA) are becoming a key element in the design of robots that need to be aware of its surrounding space and of their role in it. This is especially important for robots that interact with people in household, eldercare or industrial collaborative scenarios. We have proposed in earlier works an RCA called CORTEX designed for social robots operating in HRI environments. One of CORTEX’s main elements is a working memory designed as a graph-like data structure that is accessed by all the computational modules in charge of some relevant function in the system. Our current implementation is based on the concept of a real-time database, where one of the modules stores, receives and publishes changes to all modules. In this paper, we propose a new design of this element based on the Conflict-free Distributed Replicated Data Types (CRDT) theory of distributed data types. The new working memory presents important advantages over existing designs that are demonstrated with several experiments.
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Notes
- 1.
The term agent is used here as a synonym of module and, as such, no specific features such as goal-seeking or autonomy are imposed.
- 2.
We do not claim here that a shared representation is the only way to share information among agents. The dynamicist approach is a well-known alternative [5].
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- 4.
Convergence is guaranteed by defining merge as a least-upper bound over a join-semilattice.
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- 7.
Video: first-example available in the list https://www.youtube.com/playlist?list=PLDkfV8Ufc2i1p-viGTV3QKupFD2ute535.
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Video: second-example available in the list https://www.youtube.com/playlist?list=PLDkfV8Ufc2i1p-viGTV3QKupFD2ute535.
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Video: third-example available in the list https://www.youtube.com/playlist?list=PLDkfV8Ufc2i1p-viGTV3QKupFD2ute535.
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Video: fourth-example available in the list https://www.youtube.com/playlist?list=PLDkfV8Ufc2i1p-viGTV3QKupFD2ute535.
- 12.
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Acknowledgments
This work has been partially funded by the EU RobMoSys project (H20202-732410), the project RTI2018-099522-B-C4X, funded by the Spanish Ministerio de Ciencia, Innovación y Universidades and FEDER funds, the EU INTERREG-POCTEC project 0043-EURAGE-4-E, and the Extremaduran Goverment projects GR15120 and IP IB16090.
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Bustos, P. et al. (2021). \(DSR_d\): A Proposal for a Low-Latency, Distributed Working Memory for CORTEX. In: Bergasa, L.M., Ocaña, M., Barea, R., López-Guillén, E., Revenga, P. (eds) Advances in Physical Agents II. WAF 2020. Advances in Intelligent Systems and Computing, vol 1285. Springer, Cham. https://doi.org/10.1007/978-3-030-62579-5_8
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