Planning robotic agent actions using semantic knowledge for a home environment

• Author(s): Bernardo, Rodrigo ; Sousa, João M.C. ; Gonçalves, Paulo
• Date: 2021
• Persistent ID: http://hdl.handle.net/10400.11/7769
• Origin: Repositório Científico do Instituto Politécnico de Castelo Branco
• Subject(s): Ontologies; Autonomous robotics; Planning; Knowledge representation; Semantic maps
• Document Type: Journal article
• Language: English
• Contributor(s): Repositório Científico do Instituto Politécnico de Castelo Branco

Description

Autonomous mobile robotic agents are increasingly present in highly dynamic environments, thus making the planning and execution of their tasks challenging. Task planning is vital in directing the actions of a robotic agent in domains where a causal chain could lock the agent into a dead-end state. This paper proposes a framework that integrates a domain ontology (home environment ontology) with a task planner (ROSPlan) to translate the objectives coming from a given agent (robot or human) into executable actions by a robotic agent.