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Research paper thumbnail of The TROCA Project: An Autonomous Transportation Robot Controlled by a Cognitive Architecture

Cognitive Systems Research, 2019

Autonomous mobile robots emerged as an important kind of transportation system in warehouses and ... more Autonomous mobile robots emerged as an important kind of transportation system in warehouses and factories. In this work, we present the use of MECA cognitive architecture in the development of an artificial mind for an autonomous robot responsible for multiple tasks, including transportation of packages along a factory floor, environment exploration, warehouse inventory, its internal energy management, self-monitoring and dealing with human operators and other robots. The present text provides a detailed specification for the architecture and its software implementation. Future work will present the simulation results under different configurations, together with a detailed analysis of the architecture performance and its generalization for autonomous robot control.

Research paper thumbnail of An Overview of the Multipurpose Enhanced Cognitive Architecture (MECA)

Procedia Computer Science, 2018

In this paper, we present an overview of MECA, the Multipurpose Enhanced Cognitive Architecture, ... more In this paper, we present an overview of MECA, the Multipurpose Enhanced Cognitive Architecture, a cognitive architecture developed by our research group and implemented in the Java language. MECA was designed based on many ideas coming from Dual Process Theory, Dynamic Subsumption, Conceptual Spaces and Grounded Cognition, and constructed using CST, a toolkit for the construction of cognitive architectures in Java, also developed by our group. Basically MECA promotes an hybridism of SOAR, used to implement rule-based processing and space-state exploration in System 2 modules, with a Dynamic Subsumption Motivational System performing the role of System 1, using a representational system based on conceptual spaces and grounded cognition. We provide an overview of the many MECA subsystems and an ontology of the concepts being represented within the architecture.

Research paper thumbnail of The Multipurpose Enhanced Cognitive Architecture (MECA)

Biologically Inspired Cognitive Architectures, 2017

In this paper, we present an introduction to MECA, the Multipurpose Enhanced Cognitive Architectu... more In this paper, we present an introduction to MECA, the Multipurpose Enhanced Cognitive Architecture, a cognitive architecture developed by our research group and implemented in the Java language. MECA was designed based on many ideas coming from Dual Process Theory, Dynamic Subsumption, Conceptual Spaces and Grounded Cognition, and constructed using CST, a toolkit for the construction of cognitive architectures in Java, also developed by our group. Basically MECA promotes an hybridism of SOAR, used to implement rule-based processing and space-state exploration in System 2 modules, with a Dynamic Subsumption Motivational System performing the role of System 1, using a representational system based on conceptual spaces and grounded cognition. We review the conceptual background used on MECA and further provide a detailed description of the many MECA subsystems .

Research paper thumbnail of An urban traffic controller using the MECA cognitive architecture

Biologically Inspired Cognitive Architectures, 2018

In this paper, we present a Cognitive Manager for urban traffic control, built using MECA, the Mu... more In this paper, we present a Cognitive Manager for urban traffic control, built using MECA, the Multipurpose Enhanced Cognitive Architecture, a cognitive architecture developed by our research group and implemented in the Java language. The Cognitive Manager controls a set of traffic lights in a junction of roads based on information collected from sensors installed on the many lanes feeding the junction. We tested our Junction Manager in 4 different test topologies using the SUMO traffic simulator, and with different traffic loads. The junction manager seeks to optimize the average waiting times for all the cars crossing the junction, while at the same time being able to provide preference to special cars (police cars or firefighters), called Smart Cars, and equipped with special devices that grant them special treatment during the phase allocation policies provided by the architecture. Simulation results provide evidence for an enhanced behavior while compared to fixed-time policies.

Research paper thumbnail of A Double-Layer Subsumption Mechanism for Enforcing Sequential Behaviors in a Cognitive Architecture

2021 IEEE Symposium Series on Computational Intelligence (SSCI)

Research paper thumbnail of Extending the CST: The Distributed Cognitive Toolkit

2020 International Conferences on Internet of Things (iThings) and IEEE Green Computing and Communications (GreenCom) and IEEE Cyber, Physical and Social Computing (CPSCom) and IEEE Smart Data (SmartData) and IEEE Congress on Cybermatics (Cybermatics), 2020

This work presents the first steps towards the development of a toolkit for aiding in the constru... more This work presents the first steps towards the development of a toolkit for aiding in the construction of Distributed Cognitive Systems, designed within the spirit of the System of Systems (SoS) paradigm. The Toolkit is language agnostic and general enough to be used in building problem-specific Cognitive Systems that can spread across several physical or virtual devices such as low-power computers, microcontrollers, and virtual containers. The Toolkit is conceived targeting to be suitable for IoT and Smart City applications.

Research paper thumbnail of Uma arquitetura cognitiva para o aprendizado instrumental em agentes inteligentes

Research paper thumbnail of A Cognitive Architecture for a Transportation Robotic System

Autonomous mobile robots emerged as an important kind of transportation system in warehouses and ... more Autonomous mobile robots emerged as an important kind of transportation system in warehouses and factories. In this work, we present the use of MECA cognitive architecture in the development of an artificial mind for an autonomous robot responsible for multiple tasks. It is a work in progress, and we still have only preliminary results. Future work will present a more detailed account of the architecture.

Research paper thumbnail of A Cognitive Architecture for Instrumental Learning in Smart Agents

Introduction and Hypothesis: The research field of Cognitive Architectures relates to getting ins... more Introduction and Hypothesis: The research field of Cognitive Architectures relates to getting inspiration from the different models of the human brain / human mind coming from neuroscience and neuropsychology and building smart artificial agents able to reproduce the cognitive capabilities found in men and animals. Among these capabilities, instrumental learning is a kind of learning where an agent learns from observing the results of its own actions on the environment. This work proposes a Cognitive Architecture, inspired in neuroscience findings, for the control of intelligent agents able to learn autonomously, based on the results of its own actions on the environment. To accomplish this, the Architecture counts on different techniques, such as Reinforcement Learning [1], Neural Networks and Episodic Memory [2], which allows the system to generate expectations for its actions and to retrieve past experiences. To validate the architecture, we developed a performance test, using th...

Research paper thumbnail of Using Environment Exploration for Inverse Kinematics Learning

Anais do 14º Simpósio Brasileiro de Automação Inteligente

Psychological theories about how environment exploration impacts on one's learning, specially in ... more Psychological theories about how environment exploration impacts on one's learning, specially in early ages, have great influence in areas as Humanoid Robotics and Cognitive Systems. In this paper we propose an approach based on the idea of autonomous exploration to shape behaviors of an agent, in order to learn the inverse kinematics of a 6-DOF robotic arm.

Research paper thumbnail of The TROCA Project: An Autonomous Transportation Robot Controlled by a Cognitive Architecture

Cognitive Systems Research, 2019

Autonomous mobile robots emerged as an important kind of transportation system in warehouses and ... more Autonomous mobile robots emerged as an important kind of transportation system in warehouses and factories. In this work, we present the use of MECA cognitive architecture in the development of an artificial mind for an autonomous robot responsible for multiple tasks, including transportation of packages along a factory floor, environment exploration, warehouse inventory, its internal energy management, self-monitoring and dealing with human operators and other robots. The present text provides a detailed specification for the architecture and its software implementation. Future work will present the simulation results under different configurations, together with a detailed analysis of the architecture performance and its generalization for autonomous robot control.

Research paper thumbnail of An Overview of the Multipurpose Enhanced Cognitive Architecture (MECA)

Procedia Computer Science, 2018

In this paper, we present an overview of MECA, the Multipurpose Enhanced Cognitive Architecture, ... more In this paper, we present an overview of MECA, the Multipurpose Enhanced Cognitive Architecture, a cognitive architecture developed by our research group and implemented in the Java language. MECA was designed based on many ideas coming from Dual Process Theory, Dynamic Subsumption, Conceptual Spaces and Grounded Cognition, and constructed using CST, a toolkit for the construction of cognitive architectures in Java, also developed by our group. Basically MECA promotes an hybridism of SOAR, used to implement rule-based processing and space-state exploration in System 2 modules, with a Dynamic Subsumption Motivational System performing the role of System 1, using a representational system based on conceptual spaces and grounded cognition. We provide an overview of the many MECA subsystems and an ontology of the concepts being represented within the architecture.

Research paper thumbnail of The Multipurpose Enhanced Cognitive Architecture (MECA)

Biologically Inspired Cognitive Architectures, 2017

In this paper, we present an introduction to MECA, the Multipurpose Enhanced Cognitive Architectu... more In this paper, we present an introduction to MECA, the Multipurpose Enhanced Cognitive Architecture, a cognitive architecture developed by our research group and implemented in the Java language. MECA was designed based on many ideas coming from Dual Process Theory, Dynamic Subsumption, Conceptual Spaces and Grounded Cognition, and constructed using CST, a toolkit for the construction of cognitive architectures in Java, also developed by our group. Basically MECA promotes an hybridism of SOAR, used to implement rule-based processing and space-state exploration in System 2 modules, with a Dynamic Subsumption Motivational System performing the role of System 1, using a representational system based on conceptual spaces and grounded cognition. We review the conceptual background used on MECA and further provide a detailed description of the many MECA subsystems .

Research paper thumbnail of An urban traffic controller using the MECA cognitive architecture

Biologically Inspired Cognitive Architectures, 2018

In this paper, we present a Cognitive Manager for urban traffic control, built using MECA, the Mu... more In this paper, we present a Cognitive Manager for urban traffic control, built using MECA, the Multipurpose Enhanced Cognitive Architecture, a cognitive architecture developed by our research group and implemented in the Java language. The Cognitive Manager controls a set of traffic lights in a junction of roads based on information collected from sensors installed on the many lanes feeding the junction. We tested our Junction Manager in 4 different test topologies using the SUMO traffic simulator, and with different traffic loads. The junction manager seeks to optimize the average waiting times for all the cars crossing the junction, while at the same time being able to provide preference to special cars (police cars or firefighters), called Smart Cars, and equipped with special devices that grant them special treatment during the phase allocation policies provided by the architecture. Simulation results provide evidence for an enhanced behavior while compared to fixed-time policies.

Research paper thumbnail of A Double-Layer Subsumption Mechanism for Enforcing Sequential Behaviors in a Cognitive Architecture

2021 IEEE Symposium Series on Computational Intelligence (SSCI)

Research paper thumbnail of Extending the CST: The Distributed Cognitive Toolkit

2020 International Conferences on Internet of Things (iThings) and IEEE Green Computing and Communications (GreenCom) and IEEE Cyber, Physical and Social Computing (CPSCom) and IEEE Smart Data (SmartData) and IEEE Congress on Cybermatics (Cybermatics), 2020

This work presents the first steps towards the development of a toolkit for aiding in the constru... more This work presents the first steps towards the development of a toolkit for aiding in the construction of Distributed Cognitive Systems, designed within the spirit of the System of Systems (SoS) paradigm. The Toolkit is language agnostic and general enough to be used in building problem-specific Cognitive Systems that can spread across several physical or virtual devices such as low-power computers, microcontrollers, and virtual containers. The Toolkit is conceived targeting to be suitable for IoT and Smart City applications.

Research paper thumbnail of Uma arquitetura cognitiva para o aprendizado instrumental em agentes inteligentes

Research paper thumbnail of A Cognitive Architecture for a Transportation Robotic System

Autonomous mobile robots emerged as an important kind of transportation system in warehouses and ... more Autonomous mobile robots emerged as an important kind of transportation system in warehouses and factories. In this work, we present the use of MECA cognitive architecture in the development of an artificial mind for an autonomous robot responsible for multiple tasks. It is a work in progress, and we still have only preliminary results. Future work will present a more detailed account of the architecture.

Research paper thumbnail of A Cognitive Architecture for Instrumental Learning in Smart Agents

Introduction and Hypothesis: The research field of Cognitive Architectures relates to getting ins... more Introduction and Hypothesis: The research field of Cognitive Architectures relates to getting inspiration from the different models of the human brain / human mind coming from neuroscience and neuropsychology and building smart artificial agents able to reproduce the cognitive capabilities found in men and animals. Among these capabilities, instrumental learning is a kind of learning where an agent learns from observing the results of its own actions on the environment. This work proposes a Cognitive Architecture, inspired in neuroscience findings, for the control of intelligent agents able to learn autonomously, based on the results of its own actions on the environment. To accomplish this, the Architecture counts on different techniques, such as Reinforcement Learning [1], Neural Networks and Episodic Memory [2], which allows the system to generate expectations for its actions and to retrieve past experiences. To validate the architecture, we developed a performance test, using th...

Research paper thumbnail of Using Environment Exploration for Inverse Kinematics Learning

Anais do 14º Simpósio Brasileiro de Automação Inteligente

Psychological theories about how environment exploration impacts on one's learning, specially in ... more Psychological theories about how environment exploration impacts on one's learning, specially in early ages, have great influence in areas as Humanoid Robotics and Cognitive Systems. In this paper we propose an approach based on the idea of autonomous exploration to shape behaviors of an agent, in order to learn the inverse kinematics of a 6-DOF robotic arm.