Designing Autonomous Robots Using GOLEM

In this paper we present a goal model for the design of autonomous robots. A framework is proposed which allows a developer to design the behaviour of a robot in accordance with a rational model, which is conceived to let the autonomous system to mimic the human behaviour. The framework, called GOLEM, is based on the abstractions of goals and sub-goals, which are combined through specific relationships to specify the robot’s activities; such activities, assembled together, form the rational behaviour of the autonomous system. The central motivation for the design of our framework is represented by the central issue of integrating full awareness and autonomy. Indeed, in the proposed solution the execution of goals does not obey a pre-fixed sequence; rather, the next goal to achieve is selected, each time, on the basis of an evaluation of its opportunity.