TY - JFULL AU - Deon de Jager and Yahya Zweiri and Dimitrios Makris PY - 2020/2/ TI - Real-Time Episodic Memory Construction for Optimal Action Selection in Cognitive Robotics T2 - International Journal of Mechanical and Mechatronics Engineering SP - 33 EP - 42 VL - 14 SN - 1307-6892 UR - https://publications.waset.org/pdf/10011020 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 157, 2020 N2 - 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. ER -