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    Integrating robot task planner with common-sense knowledge base to improve the efficiency of planning

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    Authors
    Al-Moadhen, Ahmed
    Qiu, Renxi
    Packianather, Michael
    Ji, Ze
    Setchi, Rossi
    Affiliation
    Cardiff University
    Issue Date
    2013
    Subjects
    task planner
    common-sense knowledge
    semantic action model
    semantic network
    robot task planning
    
    Metadata
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    Abstract
    This paper presents a developed approach for intelligently generating symbolic plans by mobile robots acting in domestic environments, such as offices and houses. The significance of the approach lies in developing a new framework that consists of the new modeling of high-level robot actions and then their integration with common-sense knowledge in order to support a robotic task planner. This framework will enable interactions between the task planner and the semantic knowledge base directly. By using common-sense domain knowledge, the task planner will take into consideration the properties and relations of objects and places in its environment, before creating semantically related actions that will represent a plan. This plan will accomplish the user order. The robot task planner will use the available domain knowledge to check the next related actions to the current one and the action's conditions met will be chosen. Then the robot will use the immediately available knowledge information to check whether the plan outcomes are met or violated.
    Citation
    Al-Moadhen A., Qiu R., Packianather P., Ji Z., Setchi R., (2013) 'Integrating Robot Task Planner with Common-sense Knowledge Base to Improve the Efficiency of Planning', Procedia Computer Science, 22: 211-220
    Publisher
    Elsevier
    Journal
    Procedia Computer Science
    URI
    http://hdl.handle.net/10547/336232
    DOI
    10.1016/j.procs.2013.09.097
    Additional Links
    http://linkinghub.elsevier.com/retrieve/pii/S1877050913008909
    Type
    Article
    Language
    en
    ISSN
    1877-0509
    ae974a485f413a2113503eed53cd6c53
    10.1016/j.procs.2013.09.097
    Scopus Count
    Collections
    Centre for Research in Distributed Technologies (CREDIT)

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