HARMONIC: A Framework for Explanatory Cognitive Robots

Sanjay Oruganti, Sergei Nirenburg, Marjorie McShane, Jesse English, Michael K. Roberts +1 more
9/26/2024
cs.ROcs.AIcs.HC

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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.

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Cite this paper

@article{oruganti2024harmonic,
  title  = {HARMONIC: A Framework for Explanatory Cognitive Robots},
  author = {Sanjay Oruganti and Sergei Nirenburg and Marjorie McShane and Jesse English and Michael K. Roberts and Christian Arndt},
  year   = {2024},
  eprint = {2409.18037},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2409.18037v1}
}

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