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Monitoring the execution of robot plans using semantic knowledge
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-0458-2146
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0001-8229-1363
2008 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 56, no 11, p. 942-954Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
Amsterdam: North-Holland Publishing Co , 2008. Vol. 56, no 11, p. 942-954
Keywords [en]
semantic knowledge, robotics, execution monitoring
National Category
Computer Sciences Engineering and Technology Computer and Information Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-5990DOI: 10.1016/j.robot.2008.08.003OAI: oai:DiVA.org:oru-5990DiVA, id: diva2:207525
Available from: 2009-03-11 Created: 2009-03-11 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
  • 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