A Hybrid Deliberative Layer for Robotic Agents: Fusing DL Reasoning with HTN Planning in Autonomous Robots

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Springer Science & Business Media, Jul 18, 2011 - Computers - 215 pages
The Hybrid Deliberative Layer (HDL) solves the problem that an intelligent agent faces in dealing with a large amount of information which may or may not be useful in generating a plan to achieve a goal. The information, that an agent may need, is acquired and stored in the DL model. Thus, the HDL is used as the main knowledge base system for the agent. In this work, a novel approach which amalgamates Description Logic (DL) reasoning with Hierarchical Task Network (HTN) planning is introduced. An analysis of the performance of the approach has been conducted and the results show that this approach yields significantly smaller planning problem descriptions than those generated by current representations in HTN planning.
 

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Contents

Introduction
1
The Hybrid Deliberative Layer
13
HDL Systems in the Robotics Domain
42
Johnny Jackanapes
79
HDL Systems in the AI Domain
103
Results and Evaluation
122
Discussion
143
Conclusions
151
Generated Planning Domain
156
HDL ABox Assertion
195
References
203
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