Towards an architecture for knowledge representation and reasoning in robotics

Shiqi Zhang, Mohan Sridharan, Michael Gelfond, Jeremy Wyatt

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)

Abstract

This paper describes an architecture that combines the complementary strengths of probabilistic graphical models and declarative programming to enable robots to represent and reason with qualitative and quantitative descriptions of uncertainty and domain knowledge. An action language is used for the architecture’s low-level (LL) and high-level (HL) system descriptions, and the HL definition of recorded history is expanded to allow prioritized defaults. For any given objective, tentative plans created in the HL using commonsense reasoning are implemented in the LL using probabilistic algorithms, and the corresponding observations are added to the HL history. Tight coupling between the levels helps automate the selection of relevant variables and the generation of policies in the LL for each HL action, and supports reasoning with violation of defaults, noisy observations and unreliable actions in complex domains. The architecture is evaluated in simulation and on robots moving objects in indoor domains.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer
Pages400-410
Number of pages11
Volume8755
ISBN (Print)9783319119724
Publication statusPublished - 2014
EventSixth International Conference on Social Robotics (ICSR 2014) - Sydney, Australia
Duration: 27 Oct 201429 Oct 2014

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8755
ISSN (Print)03029743
ISSN (Electronic)16113349

Conference

ConferenceSixth International Conference on Social Robotics (ICSR 2014)
Country/TerritoryAustralia
CitySydney
Period27/10/1429/10/14

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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