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Inferring robot goals from violations of semantic knowledge
University of Malaga, Malaga, Spain.
Örebro University, School of Science and Technology. (AASS Cognitive Robotic Systems Lab)ORCID iD: 0000-0001-8229-1363
2013 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 61, no 10, p. 1131-1143Article in journal (Refereed) Published
Abstract [en]

A growing body of literature shows that endowing a mobile robot with semantic knowledge and with the ability to reason from this knowledge can greatly increase its capabilities. In this paper, we present a novel use of semantic knowledge, to encode information about how things should be, i.e. norms, and to enable the robot to infer deviations from these norms in order to generate goals to correct these deviations. For instance, if a robot has semantic knowledge that perishable items must be kept in a refrigerator, and it observes a bottle of milk on a table, this robot will generate the goal to bring that bottle into a refrigerator. The key move is to properly encode norms in an ontology so that each norm violation results in a detectable inconsistency. A goal is then generated to bring the world back in a consistent state, and a planner is used to transform this goal into actions. Our approach provides a mobile robot with a limited form of goal autonomy: the ability to derive its own goals to pursue generic aims. We illustrate our approach in a full mobile robot system that integrates a semantic map, a knowledge representation and reasoning system, a task planner, and standard perception and navigation routines. (C) 2013 Elsevier B.V. All rights reserved.

Place, publisher, year, edition, pages
2013. Vol. 61, no 10, p. 1131-1143
Keywords [en]
Semantic maps, Mobile robotics, Goal autonomy, Planning, Norms, Ontology, Description logics, Fault detection and isolation, Environment stabilization
National Category
Robotics
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-32405DOI: 10.1016/j.robot.2012.12.007ISI: 000325196600009OAI: oai:DiVA.org:oru-32405DiVA, id: diva2:665014
Note

Funding agency: Spanish Government, CICYT-DPI2011-25483; Orebro University

Available from: 2013-11-18 Created: 2013-11-15 Last updated: 2017-12-06Bibliographically approved

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Saffiotti, Alessandro

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CiteExportLink to record
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Citation style
  • apa
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