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Published in:
2011 | OriginalPaper | Chapter
The Hybrid Deliberative Layer
Author : Ronny Hartanto
Published in: A Hybrid Deliberative Layer for Robotic Agents
Publisher: Springer Berlin Heidelberg
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In this chapter, a brief introduction to robot control architectures is presented. It highlights the need for a deliberative layer in robotics and its role as a planning system of sorts. In large domains, computation time is in danger of exploding, as the size of the domain grows. A novel approach that amalgamates
Hierarchical Task Network
(HTN) planning with
Description Logic
(DL) reasoning is presented to keep the planning domain size within limits. With this approach the planning domain is modelled using the DL representation instead of being modelled directly in the planning representation. Finally, algorithms to automatically generate planning problems from the DL system are shown.