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Active execution monitoring using planning and semantic knowledge
Örebro University, Department of Technology. (AASS)
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0002-0458-2146
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0001-8229-1363
2007 (English)In: Proc. of the ICAPS Workshop on Planning and Plan Execution for Real-World Systems, Providence, RI, 2007, 2007, p. 9-15Conference paper, Oral presentation only (Other academic)
Abstract [en]

To cope with the dynamics and uncertainty inherent in real world environments, autonomous mobile robots need to perform execution monitoring for verifying that their plans are executed as expected. Domain semantic knowledge has lately been proposed as a source of information to derive and monitor implicit expectations of executing actions. For instance, when the robot moves into an office, it would expect to see a desk and a chair. Such expectations are checked using the immediately available perceptual information. We propose to extend the semantic knowledge-based execution monitoring to handle situations where some of the required information is missing. To this end, we use AI sensor-based planning to actively search for such information. We show how verifying execution expectations can be formulated and solved as a planning problem involving sensing actions. Our approach is illustrated by showing test scenarios run in an indoor environment using a mobile robot.

Place, publisher, year, edition, pages
2007. p. 9-15
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3326OAI: oai:DiVA.org:oru-3326DiVA, id: diva2:137623
Conference
ICAPS Workshop on Planning and Plan Execution for Real-World Systems, Providence, RI, 2007
Available from: 2008-12-01 Created: 2008-12-01 Last updated: 2018-01-13Bibliographically approved

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http://ftp://aass.oru.se/pub/saffiotti/robot/icaps07.pdf

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Bouguerra, AbdelbakiKarlsson, LarsSaffiotti, Alessandro

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf