A robot sets a table: a case for hybrid reasoning with different types of knowledge

Research output: Contribution to journalArticle

Authors

Colleges, School and Institutes

External organisations

  • Orebro University, Orebro, Sweden

Abstract

An important contribution of AI to Robotics is the model-centred approach, whereby competent robot behaviour stems from automated reasoning in models of the world which can be changed to suit different environments, physical capabilities and tasks. However models need to capture diverse (and often application-dependent) aspects of the robot’s environment and capabilities. They must also have good computational properties, as robots need to reason while they act in response to perceived context. In this article, we investigate the use of a meta-CSP-based technique to interleave reasoning in diverse knowledge types. We reify the approach through a robotic waiter case study, for which a particular selection of spatial, temporal, resource and action KR formalisms is made. Using this case study, we discuss general principles pertaining to the selection of appropriate KR formalisms and jointly reasoning about them. The resulting integration is evaluated both formally and experimentally on real and simulated robotic platforms.

Details

Original languageEnglish
Pages (from-to)801-821
JournalJournal of Experimental and Theoretical Artificial Intelligence
Volume28
Issue number5
Early online date17 Feb 2016
Publication statusPublished - 2 Sep 2016

Keywords

  • Hybrid knowledge representation and reasoning, meta-CSP, online robot planning, spatio-temporal reasoning, metric and qualitative temporal constraints