Publicação
Planning robotic agent actions using semantic knowledge for a home environment
| Resumo: | 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. |
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| Autores principais: | Bernardo, Rodrigo |
| Outros Autores: | Sousa, João M.C.; Gonçalves, Paulo |
| Assunto: | Ontologies Autonomous robotics Planning Knowledge representation Semantic maps |
| Ano: | 2021 |
| País: | Portugal |
| Tipo de documento: | artigo |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Instituto Politécnico de Castelo Branco |
| Idioma: | inglês |
| Origem: | Repositório Científico do Instituto Politécnico de Castelo Branco |
| Resumo: | 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. |
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