This paper proposes a novel system for managing visual attention in social robots. This system is based on a client/server approach that allows integration with a cognitive architecture controlling the robot. The core of this architecture is a distributed knowledge graph, in which the perceptual needs are expressed by the presence of arcs to stimuli that need to be perceived. The attention server sends motion commands to the actuators of the robot, while the attention clients send requests through the common knowledge representation. The common knowledge graph is shared by all levels of the architecture. This system has been implemented on ROS and tested on a social robot to verify the validity of the approach and was used to solve the tests proposed in RoboCup @ Home and SciROc robotic competitions. The tests have been used to quantitatively compare the proposal to traditional visual attention mechanisms.

中文翻译：

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用于管理视觉注意力的客户端 - 服务器方法，集成在社交机器人的认知架构中

本文提出了一种用于管理社交机器人视觉注意力的新系统。该系统基于客户端/服务器方法，允许与控制机器人的认知架构集成。该架构的核心是一个分布式知识图谱，其中感知需求通过需要感知的刺激弧的存在来表达。注意力服务器向机器人的执行器发送运动命令，而注意力客户端通过公共知识表示发送请求。公共知识图由架构的所有级别共享。该系统已在 ROS 上实现并在社交机器人上进行测试以验证该方法的有效性，并用于解决 RoboCup @ Home 和 SciROc 机器人比赛中提出的测试。