We are building a robot cognitive architecture that constructs a real-time virtual copy of itself and its environment, including people, and uses the model to process perceptual information and to plan its movements. This paper describes the structure of this architecture. The software components of this architecture include PhysX for the virtual world, OpenCV and the Point Cloud Library for vi...

We developed knowledge-rich agents to play real-time strategy games by interfacing the ORTS game engine to the Soar cognitive architecture. The middleware we developed supports grouping, attention, coordinated path finding, and FSM control of low-level unit behaviors. The middleware attempts to provide information humans use to reason about RTS games, and facilitates creating agent behaviors in...

The on-demand routing protocols that have been proposed to date use either path information (e.g., DSR) or distance information (e.g., AODV). We present SOAR, an on-demand link-state protocol based on partial link-state information in which a wireless router communicates to its neighbors the link states of only those links in its source tree that belong to the paths it chooses to advertise for ...

The SOAR telescope in Chile is dedicated to high angular resolution. For this reason it will be equipped with an AO instrument, the SOAR Adaptive Module (SAM), that will be able to improve the image quality by a factor of 2 to 5 in the visible, thanks to a partial correction of the first few kilometers of the atmosphere. TurSim is the turbulence simulator designed for SAM, and consists of teles...

In this talk we present a model of knowledge assessment based on architecture-specific metrics and present a method of knowledge sharing called Direct Knowledge eXchange (DKX). Although embryonic from a knowledge management perspective, the notion of DKX between homogeneous knowledge engines and knowledge metric assessment represents a small step to examining how distribution of knowledge can l...

The second-order Arnoldi (SOAR) procedure is an algorithm for computing an orthonormal basis of the second-order Krylov subspace. It has found applications in solving quadratic eigenvalue problems and model order reduction of second-order dynamical systems among others. Unfortunately, the SOAR procedure can be numerically unstable. The two-level orthogonal Arnoldi (TOAR) procedure has been prop...