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.

翻译：本文提出HARMONIC框架，该框架用于实现认知机器人，能够将通用机器人转变为可信赖的协作伙伴，使其具备复杂决策、自然交流以及类人解释的能力。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，后者负责低层控制与执行。我们描述了该框架的核心特性及初步实现，其中HARMONIC被部署于参与多机器人搜索与回收任务的模拟无人地面车辆（UGV）和无人机上。