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Fusing DL Reasoning with HTN Planning as a Deliberative Layer in Mobile Robotics

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https://osnadocs.ub.uni-osnabrueck.de/handle/urn:nbn:de:gbv:700-201003085604
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DC ElementWertSprache
dc.contributor.advisorProf. Dr. Joachim Hertzberg
dc.creatorHartanto, Ronny
dc.date.accessioned2010-03-08T09:26:10Z
dc.date.available2010-03-08T09:26:10Z
dc.date.issued2010-03-08T09:26:10Z
dc.identifier.urihttps://osnadocs.ub.uni-osnabrueck.de/handle/urn:nbn:de:gbv:700-201003085604-
dc.description.abstractAction planning has been used in the field of robotics for solving long-running tasks. In the robot architectures field, it is also known as the deliberative layer. However, there is still a gap between the symbolic representation on the one hand and the low-level control and sensor representation on the other. In addition, the definition of a planning problem for a complex, real-world robot is not trivial. The planning process could become intractable as its search spaces become large. As the defined planning problem determines the complexity and the computationability for solving the problem, it should contain only relevant states. In this work, a novel approach which amalgamates Description Logic (DL) reasoning with Hierarchical Task Network (HTN) planning is introduced. The planning domain description as well as fundamental HTN planning concepts are represented in DL and can therefore be subject to DL reasoning; from these representations, concise planning problems are generated for HTN planning. The method is presented through an example in the robot navigation domain. In addition, a case study of the RoboCup@Home domain is given. As proof of concept, a well-known planning problem that often serves as a benchmark, namely that of the blocks-world, is modeled and solved using this approach. 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.eng
dc.subjectontologyeng
dc.subjectknowledge-basedeng
dc.subjectOWL-DLeng
dc.subjectreasoningeng
dc.subjectplanningeng
dc.subjectSHOPeng
dc.subjectRoboCup@Homeeng
dc.subjectmobile-manipulationeng
dc.subject.ddc000 - Informatik, Wissen, Systeme
dc.titleFusing DL Reasoning with HTN Planning as a Deliberative Layer in Mobile Roboticseng
dc.typeDissertation oder Habilitation [doctoralThesis]-
thesis.locationOsnabrück-
thesis.institutionUniversität-
thesis.typeDissertation [thesis.doctoral]-
thesis.date2009-11-04-
dc.contributor.refereeProf. Michael Beetz
dc.subject.bk54.72 - Künstliche Intelligenz
dc.subject.ccsI.2.4 - Knowledge Representation Formalisms and Methods
dc.subject.ccsI.2.9 - Robotics
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