Using a Cognitive Architecture to Solve Simultaneous Localization and Mapping (SLAM) Problems

Abstract

The cognitive production system architecture, the Atomic Components of Thought-Rational (ACT-R), was applied to the problem of simultaneous localization and mapping (SLAM). The map space was represented as a pseudo-topological map of salient features, which was then evaluated with a production system architecture (ACT-R). Results showed that after therobot was placed in five unique locations, it was able to recognize them as spaces that it had previously visited. Results also showed that intrinsic error associated with robotic sensor readings was overcome with the use of the simulated human memory activation equations of ACT-R.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 2006
Accession Number
AD1016045

Entities

People

  • Troy D. Kelley

Organizations

  • United States Army Research Laboratory

Tags

DTIC Thesaurus Topics

  • Cartography
  • Computer Vision
  • Engineering
  • Environment
  • Equations
  • Human Behavior
  • Maps
  • Military Research
  • Navigation
  • Object Recognition
  • Production
  • Psychology
  • Reasoning
  • Recognition
  • Robots
  • Simulations
  • Simultaneous Localization And Mapping

Readers

  • Artificial Intelligence
  • Operations Research
  • Team-Based Human-Centered Cognitive Task Decision Making and Information Performance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Space