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Handling uncertainty in semantic-knowledge based execution monitoring
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
2007 (English)In: Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on Oct. 29 2007-Nov. 2 2007, NEW YORK: IEEE , 2007, p. 443-449Chapter in book (Other academic)
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 ran in an indoor environment using a mobile robot

Place, publisher, year, edition, pages
NEW YORK: IEEE , 2007. p. 443-449
Series
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9
Keywords [en]
Computer Science, Artificial Intelligence;robotics
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-32335DOI: 10.1109/IROS.2007.4399317ISI: 000254073200070ISBN: 978-1-4244-0912-9 (print)OAI: oai:DiVA.org:oru-32335DiVA, id: diva2:705206
Available from: 2014-03-14 Created: 2013-11-12 Last updated: 2018-01-11Bibliographically approved

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Bouguerra, AbdelbakiKarlsson, LarsSaffiotti, Alessandro

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CiteExportLink to record
Permanent link

Direct link
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