Paper Info
Title
Approach To Integrate Episodic Memory Into Cogency-Based Behavior Planner For Robots
Abstract
This paper proposes a novel scheme of integrating episodic memory into semantic memory based task planner. Task planners have taken an important role in AI research along with semantic memory to better perform tasks for robots. Episodic memory memorizes and retrieves temporal sequence of situated behaviors by which temporal relationship between behaviors can be defined. None of any research, however, has implemented it into their work for task planning. By introducing episodic memory into task planner, the temporal causal relationship between situated behaviors, which are stored in semantic memory, is taken into consideration. The integrated architecture proves its effectiveness by notably reducing the number of nodes traversed in finding solutions. Robots can reduce time complexity in solving given problems by retrieving previous memories. Deep Adaptive Resonance Theory (Deep-ART) neural model and cogency-based hierarchical behavior planner are used for the episodic memory and the task planner, respectively. Cogency-based hierarchical behavior planner proves its capability of solving given problems in experiment with humanoid robot Mybot, and Deep-ART is augmented to the planner and tested in simulations. Therefore, the contribution of this approach lies on developing a framework which takes advantage of implementing episodic memory and planner in one place.
Year
Venue
Field
2016
2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)
Semantic memory,Situated,Episodic memory,Adaptive resonance theory,Computer science,Planner,Artificial intelligence,Robot,Semantics,Humanoid robot
DocType
ISSN
Citations 
Conference
1062-922X
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Min-Joo Kim100.34
Seung-Hwan Baek2348.77
Se-Hyoung Cho3233.63
Jong-Hwan Kim486.01