TB1
Manufacturing
Flexibility of manufacturing robots in changing assembly tasks.
CoreSense – A Hybrid Cognitive Architecture for Deep Understanding
- Full title
- A Hybrid Cognitive Architecture for Deep Understanding
- Funding
- European Union – Horizon Europe research and innovation programme, grant agreement No 101070254
- Duration
- 1 October 2022 – 30 September 2026
- PIs at URJC
- Francisco Martín Rico, José Miguel Guerrero Hernández
- Consortium
- Universidad Politécnica de Madrid (ES), Technische Universiteit Delft (NL), Fraunhofer IPA (DE), Universidad Rey Juan Carlos (ES), PAL Robotics (ES), Czech Technical University (CZ), Irish Manufacturing Research (IE)
- Links
- coresense.eu · Technical documentation · GitHub
About the project
CoreSense is a Horizon Europe research project that develops a theory of understanding and awareness for autonomous robots, and a cognitive architecture that implements it on top of ROS 2. Its goal is to improve the capability of robots to understand their open environments and complex missions, leading to improved flexibility, resilience and explainability.
The core of the project is a hybrid cognitive architecture that uses knowledge as the core substrate for its operation and is self-aware, trustworthy, model-centric and value-oriented. The theory and technology are released as a reference architecture and an engineering toolbox, and the project builds an open-source community in the ROS ecosystem around them.
Testbeds
TB2
Inspection
Resilience of autonomous drone teams, e.g. in solar plant inspection.
TB3
Social
Human alignment of social robots. Led by URJC, including the RoboCup@Home implementation CoreSense4Home.
Software
All CoreSense software is open source in the CoreSense GitHub organisation. Some highlights:
- cs4home_architecture – the architecture from the point of view of the social testbed, with vision, sound and person-tracking cognitive modules.
- CoreSense4Home – CoreSense implementation for RoboCup@Home 2024.
- rossdl – ROS 2 system description language.
- coresense_instrumentation – ROS 2 instrumentation for cognitive modules.
- risk-awareness-module – real-time assessment of operational risks of visually navigated robots.
- triplestar_kb – RDF-star based knowledge base integrated in ROS 2.
- fms – a cognitive structure to deploy AI foundation models inside CoreSense systems.
- EasyNavigation – the ROS 2 navigation system developed by the lab.
CoreSense has received funding from the European Union’s Horizon Europe research and innovation programme under grant agreement No 101070254. Views and opinions expressed are however those of the author(s) only and do not necessarily reflect those of the European Union or the European Commission. Neither the European Union nor the granting authority can be held responsible for them.