让机器人能像人一样思考并解释决策，提升协作信任度
HARMONIC: A Framework for Explanatory Cognitive Robots
- 分战略层与执行层，实现高层决策与底层控制协同
- 在模拟无人车与无人机任务中验证了复杂决策能力
- 适合需要人机透明协作的智能系统研发者
我们提出HARMONIC框架，将通用机器人转化为可信赖的协作伙伴，具备复杂决策、自然交流和人类水平解释能力。该框架支持战略（认知）层与战术（机器人）层之间的互操作性，前者负责高层决策，后者负责底层控制与执行。本文描述了框架的核心特性及初步实现，其中HARMONIC被部署于一个模拟的无人地面车辆（UGV）与无人机协同执行多机器人搜索与回收任务的场景中。
原文摘要 · Abstract (English)
We present HARMONIC, a framework for implementing cognitive robots that transforms general-purpose robots into trusted teammates capable of complex decision-making, natural communication and human-level explanation. The framework supports interoperability between a strategic (cognitive) layer for high-level decision-making and a tactical (robot) layer for low-level control and execution. We describe the core features of the framework and our initial implementation, in which HARMONIC was deployed on a simulated UGV and drone involved in a multi-robot search and retrieval task.
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