KR&R Approaches for Robot Manipulation Tasks with Articulated Objects

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

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 journal › Conference article › peer-review

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 language	English
Number of pages	8
Journal	CEUR Workshop Proceedings
Volume	2272
Publication status	Published - 11 Dec 2018
Event	2018 RiCeRcA Workshop - Trento, Italy Duration: 22 Nov 2018 → 22 Nov 2018 http://rcra.aixia.it/workshops/ricerca2018

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@article{5ceccb6817f0412a9001bf2c8cca94fd,

title = "KR\&R Approaches for Robot Manipulation Tasks with Articulated Objects",

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.",

keywords = "Knowledge representation, Ontology, Robots, Articulated object, Consistency checking, Knowledge representation and reasoning, Robot manipulation, Robot programming",

author = "Riccardo Bertolucci and Alessio Capitanelli and Carmine Dodaro and Marco Maratea and Fulvio Mastrogiovanni and Mauro Vallati",

year = "2018",

month = dec,

day = "11",

language = "English",

volume = "2272",

journal = "CEUR Workshop Proceedings",

issn = "1613-0073",

publisher = "CEUR-WS",

note = "2018 RiCeRcA Workshop, RiCeRcA 2018 ; Conference date: 22-11-2018 Through 22-11-2018",

url = "http://rcra.aixia.it/workshops/ricerca2018",

}

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 - https://www.scopus.com/pages/publications/85058624268

UR - http://ceur-ws.org/Vol-2272/

M3 - Conference article

AN - SCOPUS:85058624268

SN - 1613-0073

VL - 2272

JO - CEUR Workshop Proceedings

JF - CEUR Workshop Proceedings

T2 - 2018 RiCeRcA Workshop

Y2 - 22 November 2018 through 22 November 2018

ER -

KR&R Approaches for Robot Manipulation Tasks with Articulated Objects

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