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Semantic knowledge-based execution monitoring for mobile robots
Örebro University, Department of Technology. (Mobile Robotics Lab)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0002-0458-2146
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2007 (English)In: 2007 IEEE international conference on robotics and automation (ICRA), 2007, p. 3693-3698Conference paper, Published paper (Refereed)
Abstract [en]

We describe a novel intelligent execution monitoring approach for mobile robots acting in indoor environments such as offices and houses. Traditionally, monitoring execution in mobile robotics amounted to looking for discrepancies between the model-based predicted state of executing an action and the real world state as computed from sensing data. We propose to employ semantic knowledge as a source of information to monitor execution. The key idea is to compute implicit expectations, from semantic domain information, that can be observed at run time by the robot to make sure actions are executed correctly. We present the semantic knowledge representation formalism, and how semantic knowledge is used in monitoring. We also describe experiments run in an indoor environment using a real mobile robot

Place, publisher, year, edition, pages
2007. p. 3693-3698
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3842DOI: 1109/ROBOT.2007.364044ISBN: 1-4244-0601-3 (print)OAI: oai:DiVA.org:oru-3842DiVA, id: diva2:138140
Conference
2007 IEEE international conference on robotics and automation ICRA 2007 - 10-14 April 2007 Rome, Italy
Available from: 2007-08-02 Created: 2007-08-02 Last updated: 2018-01-13Bibliographically approved

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Bouguerra, AbdelbakiKarlsson, LarsSaffiotti, Alessandro

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CiteExportLink to record
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Citation style
  • apa
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  • de-DE
  • en-GB
  • en-US
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  • nn-NB
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  • Other locale
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Output format
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  • asciidoc
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