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.
KR&R approaches for robot manipulation tasks with articulated objects
BERTOLUCCI, RICCARDO;Capitanelli, Alessio;Dodaro, Carmine;Maratea, Marco;Mastrogiovanni, Fulvio;
2018-01-01
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.
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