ExpCog : Experiments in Commonsense Cognitive Robotics

ExpCog is a high-level cognitive robotics framework aimed at integrating logic-based and cognitively-driven agent-control approaches, qualitative models of space, and the ability to apply these in the form of planning, explanation and simulation in a wide-range of robot-control platforms and simulation environments. In addition to its primary experimental function, the framework also has a utility toward didactic purposes, e.g., as a teaching and experimental aid in courses on Artificial Intelligence, Knowledge Representation and Reasoning, and Robotics. We demonstrate the ExpCog framework in the backdrop of an online incremental planning and postdiction driven autonomous wheelchair robot control task. We propose that ExpCog, if pursued as a longterm initiative in an open-source format, promises to consolidate KR methods for robotics under a unifying platform, thereby offering researchers, students, and enthusiasts alike direct access to commonsense cognitive robotics.

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