01.10.2012 | Special Issue
Answer set programming for collaborative housekeeping robotics: representation, reasoning, and execution
Erschienen in: Intelligent Service Robotics | Ausgabe 4/2012
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Abstract
ConceptNet
, into high-level representation, and (2) embedding (continuous) geometric reasoning and temporal reasoning about durations of actions, into (discrete) high-level reasoning. We introduce a planning and monitoring algorithm for safe execution of plans, so that robots can recover from plan failures due to collision with movable objects whose presence and location are not known in advance or due to heavy objects that cannot be lifted alone. Some of the recoveries require collaboration of robots. We illustrate the applicability of ASP on several housekeeping robotics problems, and report on the computational efficiency in terms of CPU time and memory.