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 article

Abstract

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
Volume2272
Publication statusPublished - 11 Dec 2018
Event2018 RiCeRcA Workshop - Trento, Italy
Duration: 22 Nov 201822 Nov 2018
http://rcra.aixia.it/workshops/ricerca2018

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Ontology
Robots
Planning
Knowledge representation

Cite this

Bertolucci, R., Capitanelli, A., Dodaro, C., Maratea, M., Mastrogiovanni, F., & Vallati, M. (2018). KR&R Approaches for Robot Manipulation Tasks with Articulated Objects. CEUR Workshop Proceedings, 2272.
Bertolucci, Riccardo ; Capitanelli, Alessio ; Dodaro, Carmine ; Maratea, Marco ; Mastrogiovanni, Fulvio ; Vallati, Mauro. / KR&R Approaches for Robot Manipulation Tasks with Articulated Objects. In: CEUR Workshop Proceedings. 2018 ; Vol. 2272.
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keywords = "Knowledge representation, Ontology, Robots, Articulated object, Consistency checking, Knowledge representation and reasoning, Robot manipulation, Robot programming",
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Bertolucci, R, Capitanelli, A, Dodaro, C, Maratea, M, Mastrogiovanni, F & Vallati, M 2018, 'KR&R Approaches for Robot Manipulation Tasks with Articulated Objects', CEUR Workshop Proceedings, vol. 2272.

KR&R Approaches for Robot Manipulation Tasks with Articulated Objects. / Bertolucci, Riccardo; Capitanelli, Alessio; Dodaro, Carmine; Maratea, Marco; Mastrogiovanni, Fulvio; Vallati, Mauro.

In: CEUR Workshop Proceedings, Vol. 2272, 11.12.2018.

Research output: Contribution to journalConference article

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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

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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

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Bertolucci R, Capitanelli A, Dodaro C, Maratea M, Mastrogiovanni F, Vallati M. KR&R Approaches for Robot Manipulation Tasks with Articulated Objects. CEUR Workshop Proceedings. 2018 Dec 11;2272.