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lirec_architecture [2009-01-13 12:19]
davegriffiths created
lirec_architecture [2009-01-15 12:19]
davegriffiths
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 ======Lirec Architecture====== ======Lirec Architecture======
 +
 +Part of [[Project Lirec]]
  
 The technology developed for Lirec is shared between the research partners, and has to: The technology developed for Lirec is shared between the research partners, and has to:
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   - Support migration at runtime between platforms   - Support migration at runtime between platforms
  
-====Existing robot architectures====+=====Existing robot architectures=====
 In the whole, there has historically been a lack of sharing of this kind of technology. This is partly because generalising is hard, considering all types of robots and implementations possible. However, Lirec has to generalise as it's using a wide variety of platforms and needs to share as much as possible. In the whole, there has historically been a lack of sharing of this kind of technology. This is partly because generalising is hard, considering all types of robots and implementations possible. However, Lirec has to generalise as it's using a wide variety of platforms and needs to share as much as possible.
  
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   - Working across different platforms   - Working across different platforms
  
-====Methodology====+=====Methodology=====
 In the past there have been 2 broad approaches to [[robot design]]: In the past there have been 2 broad approaches to [[robot design]]:
   * Hierarchical, model based planning = expensive/difficult to maintain an accurate world state model   * Hierarchical, model based planning = expensive/difficult to maintain an accurate world state model
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 The architecture will consist of 3 layers of abstraction: The architecture will consist of 3 layers of abstraction:
-  * Level 1 - The device api layer, hardware drivers+  * Level 1 - The device api layer, the existing hardware drivers
   * Level 2 - Logical mappings of devices into competencies   * Level 2 - Logical mappings of devices into competencies
   * Level 3 - ION, platform independent   * Level 3 - ION, platform independent
 +
 +=====Level 2 Architecture=====
  
 Level 2 will provide a reference architecture with modular capabilities called competencies. Not all competencies will make sense for all platforms, and different implementations of the same competency will be needed for different platforms. Level 2 will provide a reference architecture with modular capabilities called competencies. Not all competencies will make sense for all platforms, and different implementations of the same competency will be needed for different platforms.
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 =====Level 3 Architecture===== =====Level 3 Architecture=====
 +
 +{{:lirec-arch-level3.png|}}
  
 ====Appraisal==== ====Appraisal====
 +
 +Appraisal is the process of mapping input events to affective changes - how the agent's current "emotional state" should react to things happening in the outside world. The exact nature of this mapping forms an important part of the agent's perceived personality.
 +
 ====Coping/Reasoning/Planning==== ====Coping/Reasoning/Planning====
 +
 +Similar to appraisal, but in reverse - what should be done given the agent's current affective state, along with it's current tasks etc.
 +
 ====Affective State==== ====Affective State====
 +
 +The affective state is the emotional state of the agent, it needs to influence all decision making the agent carries out, whether it's part of the long term planning strategy, or the more reactive decisions.
 +
 +As the affective state feeds into the appraisal, which in turn feeds into the affective state, a feedback mechanism is created, which helps the agent adapt to changing events.
 +
 ====Social Relations==== ====Social Relations====
 +
 +This is where the agent models the relationships it has with other agents and humans, and the relationships other agents/humans have with it, and how they change.
 +
 +The agent also needs an idea of how it's actions will change these relationships, and importantly, to learn from past events and relationships. This is stored in the agent's memory.
 +
 +
 ====Models of others (Theory of Mind)==== ====Models of others (Theory of Mind)====
 +
 +This is where the information regarding the agents and humans that the agent has met are stored. Each model will consist of a similar architectural form as the agent itself. This means that in order to estimate what another agent will think of an action, it can run an appraisal using it's model of the other agent, and look at the changes to it's affective state. The idea is that as more information is gathered (the more the agent gets to know it's user) the better these estimates will become.
 +
 +The Lirec model is only recursive to one level, i.e. it does not attempt to model other agent's models of others.
 +
 ====Long term memory==== ====Long term memory====
-  * Forgetting+ 
 +The long term memory is where the agent stores it's information on it's history of interactions with the user and other agents. This memory should be linked to all the decision making in the agent. 
 ====Short term memory==== ====Short term memory====
  
 +Where the agent keeps it's current goals, plans and action rules.
  • lirec_architecture.txt
  • Last modified: 2009-01-15 12:19
  • by davegriffiths