Housekeeping with Multiple Autonomous Robots: Representation, Reasoning and Execution. Aker, E., Erdogan, A., Erdem, E., & Patoglu, V. In International Symposium on Logical Formalization on Commonsense Reasoning (Commonsense 2011), 2011. abstract bibtex We formalize actions and change in a housekeeping domain with multiple cleaning robots, and commonsense knowledge about this domain, in the action language C+. Geometric reasoning is lifted to high-level representation by embedding motion planning in the domain description using external predicates. With such a formalization of the domain, a plan can be computed using the causal reasoner CCalc for each robot to tidy some part of the house. We introduce a planning and monitoring algorithm for safe execution of these plans, so that it can recover from plan failures due to collision with movable objects whose presence and location are not known in advance or due to heavy objects that cannot be lifted alone. We illustrate the applicability of this algorithm with a simulation of a housekeeping domain.
@InProceedings{Aker2011a,
booktitle = {International Symposium on Logical Formalization on Commonsense Reasoning (Commonsense 2011)},
author = {Erdi Aker and Ahmetcan Erdogan and Esra Erdem and Volkan Patoglu},
title = {Housekeeping with Multiple Autonomous Robots: Representation, Reasoning and Execution},
year = {2011},
abstract = {We formalize actions and change in a housekeeping domain with multiple cleaning robots, and commonsense knowledge about this domain, in the action language C+. Geometric reasoning is lifted to high-level representation by embedding motion planning in the domain description using external predicates. With such a formalization of the domain, a plan can be computed using the causal reasoner CCalc for each robot to tidy some part of the house. We introduce a planning and monitoring algorithm for safe execution of these plans, so that it can recover from plan failures due to collision with movable objects whose presence and location are not known in advance or due to heavy objects that cannot be lifted alone. We illustrate the applicability of this algorithm with a simulation of a housekeeping domain.}
}
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