KR&R Approaches for Robot Manipulation Tasks with Articulated Objects

Riccardo Bertolucci, Alessio Capitanelli, Carmine Dodaro, Marco Maratea, Fulvio Mastrogiovanni, Mauro Vallati

Research output: Contribution to journalConference articlepeer-review


In this paper we present two approaches for solving robot manipulation tasks with articulated objects by using knowledge representation and reasoning languages and tools. Such languages and tools are used both for representing initial and final configurations from an ontology description and for planning the robot (manipulation) actions. In the first approach, standard PDDL language and solvers are used to plan those actions, and DL solvers for ontology consistency checking. In the second (ongoing) approach, ASP is employed as a unifying framework for both ontology checking and planning.

Original languageEnglish
Number of pages8
JournalCEUR Workshop Proceedings
Publication statusPublished - 11 Dec 2018
Event2018 RiCeRcA Workshop - Trento, Italy
Duration: 22 Nov 201822 Nov 2018


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