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Execution Knowledge for Execution Monitoring: what, why, where and what for?
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)ORCID iD: 0000-0002-9652-7864
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)ORCID iD: 0000-0001-8229-1363
2014 (English)In: IEEE/RSJ International Conference On Intelligent Robots and Systems (IROS), 2014, 2014Conference paper, (Refereed)
Abstract [en]

Despite the progress made in planning androbotics, autonomous plan execution on a robot remainschallenging. One of the problems is that (classical) plannersuse abstract models which are disconnected from the sensorand actuation information available during execution. Thisconnection is typically created in a non-systematic way by somesystem-specific execution software. In this paper we proposeto explicitly represent Execution Knowledge that encodes theconnection between planning models and the actual actionsand observations for a given physical system. We present anexecution monitoring framework in which Execution Knowl-edge captures the expectations about physical plan execution.A violation of these expectations indicates an execution failure.

Place, publisher, year, edition, pages
2014.
Keyword [en]
Execution Knowledge, Execution Monitoring, Semantic Execution Knowledge, Monitoring Knowledge, Robotics, Service Robotics
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-40727OAI: oai:DiVA.org:oru-40727DiVA: diva2:778560
Conference
IEEE/RSJ International Conference On Intelligent Robots and Systems (IROS)- Workshop on AI Robotics, Chicago, Illinois, Sept. 14-18, 2014
Projects
EU-FP7 RACE (Robustness by Autonomous Competence Enhancement)
Funder
EU, FP7, Seventh Framework Programme
Available from: 2015-01-11 Created: 2015-01-11 Last updated: 2017-03-16Bibliographically approved

Open Access in DiVA

Execution Knowledge(373 kB)97 downloads
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File name FULLTEXT01.pdfFile size 373 kBChecksum SHA-512
bce421ebbcccfe5c64871231858c7e0eb01982010e5f2e41f5a52b611f035f17aeb735191e7cd7df41d32583f2ef1f859d0fda8b39b86c783862f228c6eb06d4
Type fulltextMimetype application/pdf

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Execution knowledge for execution monitoring: what, why, where and what for?

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Konečný, ŠtefanPecora, FedericoSaffiotti, Alessandro
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Total: 97 downloads
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CiteExportLink to record
Permanent link

Direct link
Cite
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