Fig. 10
From: A development cycle for automated self-exploration of robot behaviors
Workflow for our exemplary use case. Steps with required user interaction are shaded blue. Relations between entities are avoided for clarity. The full entity relation diagram is visualized in Fig. 2. We start with entry point A to manually define features. Then proceed with entry point B and manually define a behavior model. Then the actual work flow starts at I. A system is assembled using components from the database, generating a new component. This new component is passed to the exploration step, which generates a robot and a state space entity in the database. Part of the robot entity is the capability function, which is used in the clustering step, along with information about the state space of the robot and the features in which to cluster. The clusters that are generated are used in cognitive core creation, which grounds the previously defined behavior model for this robot. In the cognitive core annotation step, the semantic annotation inherited from the behavior model is reviewed and possibly extended with robot-specific information by a human observer