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Handling uncertainty in semantic-knowledge based execution monitoring
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: IEEE/RSJ international conference on intelligent robots and systems, IROS 2007 San Diego, CA, 2007, New York: IEEE , 2007, p. 437-443Conference paper, Published paper (Refereed)
Abstract [en]

Executing plans by mobile robots, in real world environments, faces the challenging issues of uncertainty and environment dynamics. Thus, execution monitoring is needed to verify that plan actions are executed as expected. Semantic domain-knowledge has lately been proposed as a source of information to derive and monitor implicit expectations of executing actions. For instance, when a robot moves into a room asserted to be an office, it would expect to see a desk and a chair. We propose to extend the semantic knowledge-based execution monitoring to take uncertainty in actions and sensing into account when verifying the expectations derived from semantic knowledge. We consider symbolic probabilistic action models, and show how semantic knowledge is used together with a probabilistic sensing model in the monitoring process of such actions. Our approach is illustrated by showing test scenarios run in an indoor environment using a mobile robot.

Place, publisher, year, edition, pages
New York: IEEE , 2007. p. 437-443
National Category
Computer Sciences Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4735DOI: 10.1109/IROS.2007.4399317ISBN: 978-1-4244-0912-9 (print)OAI: oai:DiVA.org:oru-4735DiVA, id: diva2:139034
Conference
IEEE/RSJ international conference on intelligent robots and systems, IROS 2007, Oct 29 - Nov 2, San Diego, CA
Available from: 2008-11-17 Created: 2008-11-17 Last updated: 2018-01-13Bibliographically approved

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Publisher's full texthttp://ftp://aass.oru.se/pub/saffiotti/robot/iros07c.pdf

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Bouguerra, AbdelbakiKarlsson, LarsSaffiotti, Alessandro

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • 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