NDLI: Reasoning with Qualitative Positional Information for Domestic Domains in the Situation Calculus

Content Provider	Springer Nature Link
Author	Schiffer, Stefan Ferrein, Alexander Lakemeyer, Gerhard
Copyright Year	2011
Abstract	In this paper, we present a thorough integration of qualitative representations and reasoning for positional information for domestic service robotics domains into our high-level robot control. In domestic settings for service robots like in the RoboCup@Home competitions, complex tasks such as “get the cup from the kitchen and bring it to the living room” or “find me this and that object in the apartment” have to be accomplished. At these competitions the robots may only be instructed by natural language. As humans use qualitative concepts such as “near” or “far”, the robot needs to cope with them, too. For our domestic robot, we use the robot programming and plan language Readylog, our variant of Golog. In previous work we extended the action language Golog, which was developed for the high-level control of agents and robots, with fuzzy set-based qualitative concepts. We now extend our framework to positional fuzzy fluents with an associated positional context called frames. With that and our underlying reasoning mechanism we can transform qualitative positional information from one context to another to account for changes in context such as the point of view or the scale. We demonstrate how qualitative positional fluents based on a fuzzy set semantics can be deployed in domestic domains and showcase how reasoning with these qualitative notions can seamlessly be applied to a fetch-and-carry task in a RoboCup@Home scenario.
Starting Page	273
Ending Page	300
Page Count	28
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	66
Issue Number	1-2
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2011-07-16
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Qualitative spatial representation Reasoning Golog Situation calculus Fuzzy sets Domestic service robotics Artificial Intelligence (incl. Robotics) Electrical Engineering Mechanical Engineering Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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