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Monitoring the execution of robot plans using semantic knowledge
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS)
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0002-0458-2146
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0001-8229-1363
2008 (engelsk)Inngår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 56, nr 11, s. 942-954Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

Even the best laid plans can fail, and robot plans executed in real world domains tend to do so often. The ability of a robot to reliably monitor the execution of plans and detect failures is essential to its performance and its autonomy. In this paper, we propose a technique to increase the reliability of monitoring symbolic robot plans. We use semantic domain knowledge to derive implicit expectations of the execution of actions in the plan, and then match these expectations against observations. We present two realizations of this approach: a crisp one, which assumes deterministic actions and reliable sensing, and uses a standard knowledge representation system (LOOM); and a probabilistic one, which takes into account uncertainty in action effects, in sensing, and in world states. We perform an extensive validation of these realizations through experiments performed both in simulation and on real robots.

sted, utgiver, år, opplag, sider
Amsterdam: North-Holland Publishing Co , 2008. Vol. 56, nr 11, s. 942-954
Emneord [en]
semantic knowledge, robotics, execution monitoring
HSV kategori
Forskningsprogram
data- och systemvetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-5990DOI: 10.1016/j.robot.2008.08.003OAI: oai:DiVA.org:oru-5990DiVA, id: diva2:207525
Tilgjengelig fra: 2009-03-11 Laget: 2009-03-11 Sist oppdatert: 2018-01-13bibliografisk kontrollert

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