Download A Hybrid Deliberative Layer for Robotic Agents: Fusing DL by Ronny Hartanto PDF

By Ronny Hartanto

The Hybrid Deliberative Layer (HDL) solves the matter that an clever agent faces in facing a large number of details that could or is probably not precious in producing a plan to accomplish a target. the data, that an agent might have, is received and kept within the DL version. hence, the HDL is used because the major wisdom base procedure for the agent.

In this paintings, a singular strategy which amalgamates Description good judgment (DL) reasoning with Hierarchical job community (HTN) making plans is brought. An research of the functionality of the procedure has been carried out and the implications exhibit that this technique yields considerably smaller making plans challenge descriptions than these generated through 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

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Hence, it filters and processes the information which is relevant for the htn planner. The rest of this chapter presents the algorithms that are used for extracting planning problems from the dl representation. 3 Concept The basic idea of this approach is to split tasks between dl reasoning and htn planning. dl representation is more expressive than htn planning representation. The planning domain as well as basic htn planning concepts are modelled in dl. In fact, so are the sensor readings, detected objects, actuators, and the robots.

Chapter 8 concludes this book. It gives an overview of possible future work aimed at expanding the hdl system. 2 The Hybrid Deliberative Layer In this chapter, a brief introduction to robot control architectures is presented. It highlights the need for a deliberative layer in robotics and its role as a planning system of sorts. In large domains, computation time is in danger of exploding, as the size of the domain grows. A novel approach that amalgamates Hierarchical Task Network (htn) planning with Description Logic (dl) reasoning is presented to keep the planning domain size within limits.

However, this data model can not describe the relation between properties and resources. Therefore, the rdf Vocabulary Description Language (Brickley and Guha, 2003) was introduced. It is also known as the RDF Schema (rdfs). The Ontology Inference Layer (oil) is an extension language based on rdf(s) (Horrocks et. al. 2000). It is derived from frame-based knowledge representation techniques and uses dls to gain clear semantics over rdf(s). 5 depicts the levels of oil. oil can also express enumeration, hence it can be categorised as dl SHIQ language.

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