{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,15]],"date-time":"2026-05-15T05:54:46Z","timestamp":1778824486873,"version":"3.51.4"},"reference-count":51,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2022,7,13]],"date-time":"2022-07-13T00:00:00Z","timestamp":1657670400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","award":["RTI2018-096338-B-I00"],"award-info":[{"award-number":["RTI2018-096338-B-I00"]}]},{"name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","award":["PID2021-123941OA-I00"],"award-info":[{"award-number":["PID2021-123941OA-I00"]}]},{"name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","award":["PLEC2021-007819"],"award-info":[{"award-number":["PLEC2021-007819"]}]},{"name":"Agencia Estatal de Investigaci\u00f3n (AEI)","award":["RTI2018-096338-B-I00"],"award-info":[{"award-number":["RTI2018-096338-B-I00"]}]},{"name":"Agencia Estatal de Investigaci\u00f3n (AEI)","award":["PID2021-123941OA-I00"],"award-info":[{"award-number":["PID2021-123941OA-I00"]}]},{"name":"Agencia Estatal de Investigaci\u00f3n (AEI)","award":["PLEC2021-007819"],"award-info":[{"award-number":["PLEC2021-007819"]}]},{"name":"MCIN\/AEI\/10.13039\/501100011033","award":["RTI2018-096338-B-I00"],"award-info":[{"award-number":["RTI2018-096338-B-I00"]}]},{"name":"MCIN\/AEI\/10.13039\/501100011033","award":["PID2021-123941OA-I00"],"award-info":[{"award-number":["PID2021-123941OA-I00"]}]},{"name":"MCIN\/AEI\/10.13039\/501100011033","award":["PLEC2021-007819"],"award-info":[{"award-number":["PLEC2021-007819"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>A robust perception system is crucial for natural human\u2013robot interaction. An essential capability of these systems is to provide a rich representation of the robot\u2019s environment, typically using multiple sensory sources. Moreover, this information allows the robot to react to both external stimuli and user responses. The novel contribution of this paper is the development of a perception architecture, which was based on the bio-inspired concept of endogenous attention being integrated into a real social robot. In this paper, the architecture is defined at a theoretical level to provide insights into the underlying bio-inspired mechanisms and at a practical level to integrate and test the architecture within the complete architecture of a robot. We also defined mechanisms to establish the most salient stimulus for the detection or task in question. Furthermore, the attention-based architecture uses information from the robot\u2019s decision-making system to produce user responses and robot decisions. Finally, this paper also presents the preliminary test results from the integration of this architecture into a real social robot.<\/jats:p>","DOI":"10.3390\/s22145248","type":"journal-article","created":{"date-parts":[[2022,7,14]],"date-time":"2022-07-14T00:12:40Z","timestamp":1657757560000},"page":"5248","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["A Bio-Inspired Endogenous Attention-Based Architecture for a Social Robot"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8386-0601","authenticated-orcid":false,"given":"Sara","family":"Marques-Villarroya","sequence":"first","affiliation":[{"name":"RoboticsLab, Universidad Carlos III de Madrid, 28911 Legan\u00e9s, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0454-9466","authenticated-orcid":false,"given":"Jose Carlos","family":"Castillo","sequence":"additional","affiliation":[{"name":"RoboticsLab, Universidad Carlos III de Madrid, 28911 Legan\u00e9s, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7845-5812","authenticated-orcid":false,"given":"Juan Jos\u00e9","family":"Gamboa-Montero","sequence":"additional","affiliation":[{"name":"RoboticsLab, Universidad Carlos III de Madrid, 28911 Legan\u00e9s, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9214-4973","authenticated-orcid":false,"given":"Javier","family":"Sevilla-Salcedo","sequence":"additional","affiliation":[{"name":"RoboticsLab, Universidad Carlos III de Madrid, 28911 Legan\u00e9s, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0263-6606","authenticated-orcid":false,"given":"Miguel Angel","family":"Salichs","sequence":"additional","affiliation":[{"name":"RoboticsLab, Universidad Carlos III de Madrid, 28911 Legan\u00e9s, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,7,13]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"400","DOI":"10.1016\/j.tics.2010.06.008","article-title":"The multifaceted interplay between attention and multisensory integration","volume":"14","author":"Talsma","year":"2010","journal-title":"Trends Cogn. 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