Accession Number:

AD1016045

Title:

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

Descriptive Note:

Technical Report,01 May 2005,01 May 2006

Corporate Author:

Human Research and Engineering Directorate, Army Research Laboratory Aberdeen Proving Ground United States

Personal Author(s):

Report Date:

2006-05-01

Pagination or Media Count:

18.0

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.

Subject Categories:

Distribution Statement:

APPROVED FOR PUBLIC RELEASE