REACT-R and Unity Integration

摘要

This paper presents REACT-R which is a modification of an existing cognitive architecture, ACT-R, to incorporate robot embodiment. Robot embodiment is facilitated by situating the cognitive architecture within the robot and allowing it to interact with the environment through its actuators and sensors. The REACT-R module offers flexibility by using a UDP connection to integrate with the Robot Operating System (ROS) allowing REACT-R to be used in simulations or on physical models. We have successfully integrated REACT-R with an interactive 3D Game Engine to autonomously control a simulated quadrotor flying vehicle. The cognitive model also contains varying levels of autonomy, providing a human pilot with the option of controlling different aspects or levels of robot operation.