WASET
	%0 Journal Article
	%A Deon de Jager and  Yahya Zweiri and  Dimitrios Makris
	%D 2020
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 157, 2020
	%T Real-Time Episodic Memory Construction for Optimal Action Selection in Cognitive Robotics
	%U https://publications.waset.org/pdf/10011020
	%V 157
	%X The three most important components in the cognitive architecture for cognitive robotics is memory representation, memory recall, and action-selection performed by the executive. In this paper, action selection, performed by the executive, is defined as a memory quantification and optimization process. The methodology describes the real-time construction of episodic memory through semantic memory optimization. The optimization is performed by set-based particle swarm optimization, using an adaptive entropy memory quantification approach for fitness evaluation. The performance of the approach is experimentally evaluated by simulation, where a UAV is tasked with the collection and delivery of a medical package. The experiments show that the UAV dynamically uses the episodic memory to autonomously control its velocity, while successfully completing its mission.

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