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Monitoring the exec...
Monitoring the execution of robot plans using semantic knowledge
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- Bouguerra, Abdelbaki (författare)
- Örebro universitet,Akademin för naturvetenskap och teknik,AASS
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- Karlsson, Lars, 1968- (författare)
- Örebro universitet,Akademin för naturvetenskap och teknik,AASS
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- Saffiotti, Alessandro (författare)
- Örebro universitet,Akademin för naturvetenskap och teknik,AASS
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(creator_code:org_t)
- Amsterdam : North-Holland Publishing Co, 2008
- 2008
- Engelska.
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Ingår i: Robotics and Autonomous Systems. - Amsterdam : North-Holland Publishing Co. - 0921-8890 .- 1872-793X. ; 56:11, s. 942-954
- Relaterad länk:
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http://aass.oru.se/~...
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visa fler...
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences (hsv//eng)
Nyckelord
- semantic knowledge
- robotics
- execution monitoring
- Computer science
- Datavetenskap
- TECHNOLOGY
- TEKNIKVETENSKAP
- Information technology
- Informationsteknik
- Computer Science
- data- och systemvetenskap
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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