Inter-module cooperation architecture for interactive robot

We designed an inter-module cooperation architecture that enables the collaborative development of interactive robots. In the bazaar-like development model, each module is developed by an individual developer and the total system is developed by the cooperation of these developers. To realize smooth collaboration of these developers under bazaar-like model, inter-module cooperation architecture is required to avoid the confliction of modules and select the appropriate modules according to the situations and the tasks. For this aim, we introduce a priority based cooperation mechanism for modules. The priority for each module under the various situations is, described in a situated-priority description script (SPDS). Flexible module selection is realized by the modification of the SPDS under the various situations and the tasks. We also evaluate the efficiency of proposed architecture through the development of the multi-modal conversation robot.