A systematic literature review of decision-making and control systems for autonomous and social robots Articles uri icon

publication date

  • May 2023

start page

  • 745

end page

  • 789


  • 5


  • 15

International Standard Serial Number (ISSN)

  • 1875-4791

Electronic International Standard Serial Number (EISSN)

  • 1875-4805


  • In the last years, considerable research has been carried out to develop robots that can improve our quality of life during tedious and challenging tasks. In these contexts, robots operating without human supervision open many possibilities to assist people in their daily activities. When autonomous robots collaborate with humans, social skills are necessary for adequate communication and cooperation. Considering these facts, endowing autonomous and social robots with decision-making and control models is critical for appropriately fulfiling their initial goals. This manuscript presents a systematic review of the evolution of decision-making systems and control architectures for autonomous and social robots in the last three decades. These architectures have been incorporating new methods based on biologically inspired models and Machine Learning to enhance these systems┬┐ possibilities to developed societies. The review explores the most novel advances in each application area, comparing their most essential features. Additionally, we describe the current challenges of software architecture devoted to action selection, an analysis not provided in similar reviews of behavioural models for autonomous and social robots. Finally, we present the future directions that these systems can take in the future.


  • Computer Science
  • Robotics and Industrial Informatics


  • decision-making system; action selection methods; social robots; autonomous robots; human-robot interaction