A Hybrid Deliberative Layer for Robotic Agents: Fusing DL Reasoning with HTN Planning in Autonomous Robots
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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The Hybrid Deliberative Layer
HDL Systems in the Robotics Domain
HDL Systems in the AI Domain
Results and Evaluation
Generated Planning Domain
HDL ABox Assertion
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ABox actions additional adjacentto armchair Artificial Intelligence assertions at—dexterous—workspace robot blocks world domain blocks world problem cognitive robot complete pick-and-place domain components concept constr container corridor—3 corridor−1 defined as follows Description Logics djacentto djacentto djacentto dl model dl reasoner dl representation drive-robot drive−to−dexterous−workspace environment example goal on—table hdl approach hdl system Hence htn planner htn planning htn planning problem http://mas.b—it—center.de/ontologies/planner.owl Human Robot Interaction implemented instances JSHOP2 JSHOP2 Planning Knowledge Representation living−room llassert dont—move llassert goal methods and operators methods or operators mobile manipulator mobile robot move-object navigate robot navigation domain object robot ontology partial pick-and-place domain pickup Plan cost planning domain description Planning problem description put-object putdown represented RoboCup RoboCup@Home robot object robot object from-container Section semantic shop2code shown in Figure sideboard simple blocks world solution plan speech synthesis stack subtasks syntax task network TBox to-person to—container trash—6 unstack unvisit UsedBlock val1 zoperator