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HARMONIC: A Framework for Explanatory Cognitive Robots

Sanjay Oruganti, Sergei Nirenburg, Marjorie McShane, Jesse English, Michael K. Roberts, Christian Arndt

Abstract

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.

HARMONIC: A Framework for Explanatory Cognitive Robots

Abstract

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.
Paper Structure (4 sections, 2 figures)

This paper contains 4 sections, 2 figures.

Table of Contents

  1. INTRODUCTION
  2. The Framework
  3. Initial Implementation
  4. CONCLUSIONS AND FUTURE WORK

Figures (2)

  • Figure 1: An overview of the HARMONIC framework showing the strategic and tactical layers.
  • Figure 2: A snapshot of the simulation environment featuring a UGV and a drone searching for lost keys, as requested by a human named Danny. In the center is the team-wide verbal communication. To the right are under-the-hood panels that show real-time traces of thinking in the strategic layer, including interpreting visual information (VMRs) and reasoning (Thoughts).