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    Towards automated task planning for service robots using semantic knowledge representation

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    Authors
    Ji, Ze
    Qiu, Renxi
    Noyvirt, Alex
    Soroka, Anthony
    Packianather, Michael
    Setchi, Rossi
    Li, Dayou
    Xu, Shuo
    Affiliation
    Cardiff University
    University of Bedfordshire
    Shanghai University
    Issue Date
    2012
    Subjects
    control engineering computing
    intelligent robots
    robotics
    
    Metadata
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    Abstract
    Automated task planning for service robots faces great challenges in handling dynamic domestic environments. Classical methods in the Artificial Intelligence (AI) area mostly focus on relatively structured environments with fewer uncertainties. This work proposes a method to combine semantic knowledge representation with classical approaches in AI to build a flexible framework that can assist service robots in task planning at the high symbolic level. A semantic knowledge ontology is constructed for representing two main types of information: environmental description and robot primitive actions. Environmental knowledge is used to handle spatial uncertainties of particular objects. Primitive actions, which the robot can execute, are constructed based on a STRIPS-style structure, allowing a feasible solution (an action sequence) for a particular task to be created. With the Care-O-Bot (CoB) robot as the platform, we explain this work with a simple, but still challenging, scenario named “get a milk box”. A recursive back-trace search algorithm is introduced for task planning, where three main components are involved, namely primitive actions, world states, and mental actions. The feasibility of the work is demonstrated with the CoB in a simulated environment.
    Citation
    Ze Ji, Renxi Qiu, Noyvirt, A., Soroka, A., Packianather, M., Setchi, R., Dayou Li & Shuo Xu (2012) "Towards automated task planning for service robots using semantic knowledge representation", Industrial Informatics (INDIN), 2012 10th IEEE International Conference on, Industrial Informatics (INDIN), 2012 10th IEEE International Conference on,p1194-1201.
    Publisher
    IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
    URI
    http://hdl.handle.net/10547/275682
    DOI
    10.1109/INDIN.2012.6301131
    Additional Links
    http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6301131
    Type
    Conference papers, meetings and proceedings
    Language
    en
    ISBN
    9781467303125
    ae974a485f413a2113503eed53cd6c53
    10.1109/INDIN.2012.6301131
    Scopus Count
    Collections
    Centre for Research in Distributed Technologies (CREDIT)

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