TY - JOUR
T1 - KR&R Approaches for Robot Manipulation Tasks with Articulated Objects
AU - Bertolucci, Riccardo
AU - Capitanelli, Alessio
AU - Dodaro, Carmine
AU - Maratea, Marco
AU - Mastrogiovanni, Fulvio
AU - Vallati, Mauro
PY - 2018/12/11
Y1 - 2018/12/11
N2 - 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.
AB - 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.
KW - Knowledge representation
KW - Ontology
KW - Robots
KW - Articulated object
KW - Consistency checking
KW - Knowledge representation and reasoning
KW - Robot manipulation
KW - Robot programming
UR - http://www.scopus.com/inward/record.url?scp=85058624268&partnerID=8YFLogxK
UR - http://ceur-ws.org/Vol-2272/
M3 - Conference article
AN - SCOPUS:85058624268
VL - 2272
JO - CEUR Workshop Proceedings
JF - CEUR Workshop Proceedings
SN - 1613-0073
T2 - 2018 RiCeRcA Workshop
Y2 - 22 November 2018 through 22 November 2018
ER -