COMMON REPRESENTATION FOR TASK PLANNING AND EXECUTION IN THE SERVICE ROBOT DOMAIN

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Oct 21, 2013 (3 years and 10 months ago)

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A

COMMON REPRESENTATIO
N FOR TASK PLANNING
AND EXECUTION IN THE

SERVICE ROBOT DOMAIN

Contents

1.

Introduction

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2

1.1.

Introduction

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..

2

1.2.

Motivat
ion

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2

1.3.

Problem Statement

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2

1.4.

Challenges

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2

1.5.

Scope

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2

1.6.

Previous Work

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2

1.7.

Contributions

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2

1.8.

Outline
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2

2.

The Service R
obot Domain

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2

3.

Reasoning and Planning With Symbolic Action Representations
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2

3.1.

Reasoning

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2

3.1.1.

KnowRob

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2

3.2.

Planning
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2

3.2.1.

Classical Planning

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2

3.2.2.

Hierarchical Task Network Planning

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3

3.2.3.

Online Planning

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3

4.

A S
emantic Web for Robot Actions

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3

4.1.

OWL

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3

4.2.

OWL
-
S

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3

5.

Grounding of Robot Actions onto a Physical System

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3

5.1.

Different Execution Layers

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6.

Experimental Use Cases

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3

6.1.

RoboCup@Home General Purpose Service Robot Challenge
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3

Appendix A

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3

Appendix B

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3

Bibliography

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3

Acknowledgements
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3


1.

Introduction

1.1.

Introduction

1.2.

Motivation

1.3.

Problem Statement

1.4.

Challenges

1.5.

Scope

1.6.

Previous Work

1.7.

Contributions

1.8.

Outline

2.

The Service Robot Domain

3.

Reasoning and Planni
ng With Symbolic Action Representations

3.1.

Reasoning

3.1.1.

KnowRob

3.2.

Planning

3.2.1.

Classical Planning

3.2.1.1.

Set
-
Theoretic Representation

Each state of the world is a set of propositions, and each action is a syntactic expression specifying
which propositions belong to the state

in order for the action to be applicable (pre
-
conditions of an
action) and which propositions the action will add or remove (add or delete lists) in order to make a new
state of the world.

3.2.1.2.

Classical Representation

In the classical representation, the
states and actions are like the ones described in for the set
-
theoretic
representation except that first
-
order literals

and logical connectives are used instead of propositions.
This is the most popular choice for restricted state
-
transition systems (why??
).

3.2.1.2.1.

First Order Literals



3.2.1.3.

State
-
Variable Representation

3.2.2.

Hierarchical Task Network Planning

3.2.3.

Online Planning

4.

A Semantic Web for Robot Actions

4.1.

OWL

4.2.

OWL
-
S

5.

Grounding of Robot Actions onto a Physical System

5.1.

CRAM

5.2.

SMACH

6.

Experimental Use Cases

6.1.

RoboCup@Home General P
urpose Service Robot Challenge

Appendix A

Appendix B

Bibliography

Acknowledgements