Toma de Decisiones en Robótica

Miguel A. Salichs; María Malfaz; Javi F. Gorostiza

doi:10.1016/S1697-7912(10)70055-8

Autores/as

Miguel A. Salichs Universidad Carlos III de Madrid
María Malfaz Universidad Carlos III de Madrid
Javi F. Gorostiza Universidad Carlos III de Madrid

DOI:

https://doi.org/10.1016/S1697-7912(10)70055-8

Palabras clave:

Robótica, toma de decisiones, arquitecturas de control, autonomía, inteligencia, interacción humano-robot, aprendizaje, emociones

Resumen

En este artículo se presenta, en forma de tutorial, una visión de conjunto de la situación actual del problema de la toma de decisiones en robótica. El estudio se plantea de forma amplia e integradora y, por tanto, intentando no entrar en detallar soluciones concretas para problemas también concretos. El artículo está centrado sobre todo en las decisiones de alto nivel que debe tomar un robot, y no en problemas de más bajo nivel, que se solucionan empleando técnicas tradicionales de control o mediante algoritmos muy específicos. Nos referimos a “toma de decisiones” de un robot en el sentido amplio de determinar las actividades a realizar por el robot. Es decir, sin hacer ninguna exclusión a priori, basada en cuestiones tales como la estrategia de toma de decisiones empleada, el tipo de robot, las tareas que puede realizar, etc. El artículo está estructurado en una serie de secciones, en las que se tratan diversos temas de interés en robótica, desde la perspectiva de la toma de decisiones: autonomía, inteligencia, objetivos, decisiones de alto nivel, estrategias de toma de decisiones, arquitecturas de control, percepción, interacción humano-robot, aprendizaje y emociones.

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