NDLI: Ontology-based multi-layered robot knowledge framework (OMRKF) for robot intelligence

Content Provider	IEEE Xplore Digital Library
Author	Il Hong Suh Gi Hyun Lim Wonil Hwang Hyowon Suh Jung-Hwa Choi Young-Tack Park
Copyright Year	2007
Description	Author affiliation: Hanyang Univ., Seoul (Il Hong Suh)
Abstract	An ontology-based multi-layered robot knowledge framework (OMRKF) is proposed to implement robot intelligence to be useful in a robot environment. OMRKF consists of four classes of knowledge (KClass), axioms and two types of rules. Four KClasses including perception, model, activity and context class are organized in a hierarchy of three knowledge levels (KLevel) and three ontology layers (OLayer). The axioms specify the semantics of concepts and relational constraints between ontological elements in each OLayer. One type of rule is designed for relationships between concepts in the same KClasses but in different KLevels. These rules will be used in a way of unidirectional reasoning. And, the other types of rules are also designed for association between concepts in different KLevels and different KClasses to be used in a way of bi-directional reasoning. These features will let OMRKF enable a robot to integrate robot knowledge from levels of sensor data and primitive behaviors to levels of symbolic data and contextual information regardless of class of knowledge. To show the validities of our proposed OMRKF, several experimental results will be illustrated, where some queries can be possibly answered by using uni-directional rules as well as bi-directional rules even with partial and uncertain information.
Starting Page	429
Ending Page	436
File Size	1065957
Page Count	8
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399082
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Intelligent robots Ontologies Robot sensing systems Humans Bidirectional control Navigation USA Councils Data structures Grounding
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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