The CORTEX Cognitive Robotics Architecture: use cases


CORTEX is a cognitive robotics architecture inspired by three key ideas: modularity, internal modelling and graph representations. CORTEX is also a computational framework designed to support early forms of intelligence in real world, human interacting robots, by selecting an a priori functional decomposition of the capabilities of the robot. This set of abilities was then translated to computational modules or agents, each one built as a network of software interconnected components. The nature of these agents can range from pure reactive modules connected to sensors and/or actuators, to pure deliberative ones, but they can only communicate with each other through a graph structure called Deep State Representation (DSR). DSR is a short-term dynamic representation of the space surrounding the robot, the objects and the humans in it, and the robot itself. All these entities are perceived and transformed into different levels of abstraction, ranging from geometric data to high-level symbolic relations such as "the person is talking and gazing at me". The combination of symbolic and geometric information endows the architecture with the potential to simulate and anticipate the outcome of the actions executed by the robot. In this paper we present recent advances in the CORTEX architecture and several real-world human-robot interaction scenarios in which they have been tested. We describe our interpretation of the ideas inspiring the architecture and the reasons why this specific computational framework is a promising architecture for the social robots of tomorrow.

Publication DOI:
Divisions: College of Engineering & Physical Sciences
Additional Information: © 2019, Elsevier. Licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
Uncontrolled Keywords: Cognitive robotics,Robot control architectures,Experimental and Cognitive Psychology,Cognitive Neuroscience,Artificial Intelligence
Publication ISSN: 1389-0417
Full Text Link:
Related URLs: https://www.sci ... sd_search_email (Publisher URL)
http://www.scop ... tnerID=8YFLogxK (Scopus URL)
PURE Output Type: Article
Published Date: 2019-06-01
Published Online Date: 2019-01-19
Accepted Date: 2019-01-06
Authors: Bustos, Pablo
Manso, Luis J. (ORCID Profile 0000-0003-2616-1120)
Bandera, Antonio J.
Bandera, Juan P.
Garcia-Varea, Ismael
Martinez-Gomez, Jesus



Version: Draft Version

Access Restriction: Restricted to Repository staff only


Version: Accepted Version

License: Creative Commons Attribution Non-commercial No Derivatives

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