Wreath product cognitive architecture (WPCA)

A Belief-Desire-Intention (BDI) framework closely resembles human practical reasoning approach in day-to-day life, and is a well-studied architecture. The wreath product cognitive model, first described by Leyton is an abstract, although powerful, model which closely couples perception and actuation for representing shape. However, no implementation of the wreath product model exists. Our work is an attempt to combine the wreath product knowledge representation mechanism with a BDI architecture that works in a real-world setting. A prototype implementation of this combination is demonstrated on an iRobot Create differential-drive robot, with a Kinect One structural sensor, in an indoor environment. The effectiveness of our framework is demonstrated by its accuracy for mapping the environment and localization of the robot for navigation purposes.