New PDF release: A Hybrid Deliberative Layer for Robotic Agents: Fusing DL

By Ronny Hartanto

ISBN-10: 3642225799

ISBN-13: 9783642225796

The Hybrid Deliberative Layer (HDL) solves the matter that an clever agent faces in facing a large number of info that can or is probably not necessary in producing a plan to accomplish a aim. the data, that an agent might have, is bought and kept within the DL version. therefore, the HDL is used because the major wisdom base approach for the agent.

In this paintings, a singular strategy which amalgamates Description common sense (DL) reasoning with Hierarchical job community (HTN) making plans is brought. An research of the functionality of the technique has been performed and the consequences exhibit that this process yields considerably smaller making plans challenge descriptions than these generated by means of present representations in HTN planning.

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

Sample text

The dl reasoners are detailed in the following section. 2 Description Logic Reasoner One of the differences between the approach presented here and others is the reasoner. hdl is equipped with a dl-reasoner, such that it can retrieve the stored information from the dl-model and also reason about the knowledge therein. Including a reasoner in the robot enables it to perform advanced deliberative actions rather than simply reactive actions that are based on sensor readings. Most of the dl-reasoners are actually decidable fragments of fopl.

Phase 1 (1980-1990) was concerned with the implementation of dl systems, such as kl–one [63], classic [28], k–rep [64], krypton [65], back [66], nikl [35], and loom [33, 34]. A structural subsumption algorithms for inferring the knowledge was used by these systems. Phase 2 (1990-1995), during which a new algorithmic paradigm was introduced into dls, namely tableau-based algorithms. The first systems with these algorithms were kris [67] and crack [68]. They showed a performance gain resulting from the use of these new algorithms.

This information is stored in four layers. The first layer is the Metric Map which contains a metric representation of the environment from the Simultaneous Localisation And Mapping (slam) component. The second layer is the Navigation Map which contains navigation graphs that model the free space and its connectivity. The third layer is the Topological Map, which groups some navigation graphs into areas. e. through a doorway. The fourth layer is the Conceptual Map, which is the highest level of abstraction that provides the semantic meaning of the topological map (areas).

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


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