@inproceedings {KBSG_298,
        title = {Unexpected Situations in Service Robot Environment: Classification and Reasoning Using Naive Physics},
        journal = {17th annual RoboCup International Symposium},
        year = {2013},
        month = {07/2013},
        address = {Eindhoven, Netherlands},
        abstract = {Despite perfect functioning of its internal components, a robot can
be unsuccessful in performing its tasks because of unforeseen situations. Mostly
these situations arise from the interaction of a robot with its ever-changing environment.
In this paper we refer to these unsuccessful operations as external
unknown faults. We reason along the most frequent failures in typical scenarios
which we observed during real-world demonstrations and competitions using our
Care-O-bot III robot. These events take place in an apartment-like environment.
We create four different - for now adhoc - fault classes, which refer to faults
caused by a) disturbances, b) imperfect perception, c) inadequate planning or d)
chaining of action sequences. These four fault classes can then be mapped to a
handful of partly known, partly extended fault handling techniques.
In addition to existing techniques we propose an approach that uses naive physics
concepts to find information about these kinds of situations. Here the naive physics
knowledge is represented by the physical properties of objects which are formalized
in a logical framework. The proposed approach applies a qualitative version
of physical laws to these properties to reason about the fault. By interpreting the
results the robot finds the information about the situations which can cause the
fault.We apply this approach to scenarios in which a robot performs manipulation
tasks (pick and place). The results show that naive physics hold great promises
for reasoning about unknown external faults in the field of robotics.},
        keywords = {faults in robotics, naive physics, unexpected situations},
        author = {Anastassia K{\"u}stenmacher and Naveed Akhtar and Paul G. Pl{\"o}ger and Lakemeyer, Gerhard}
}

{"_id":"AYtGGFrkXCcvj4A9X","bibbaseid":"kstenmacher-akhtar-plger-lakemeyer-unexpectedsituationsinservicerobotenvironmentclassificationandreasoningusingnaivephysics-2013","author_short":["Küstenmacher, A.","Akhtar, N.","Plöger, P. G.","Lakemeyer, G."],"bibdata":{"bibtype":"inproceedings","type":"inproceedings","title":"Unexpected Situations in Service Robot Environment: Classification and Reasoning Using Naive Physics","journal":"17th annual RoboCup International Symposium","year":"2013","month":"07/2013","address":"Eindhoven, Netherlands","abstract":"Despite perfect functioning of its internal components, a robot can be unsuccessful in performing its tasks because of unforeseen situations. Mostly these situations arise from the interaction of a robot with its ever-changing environment. In this paper we refer to these unsuccessful operations as external unknown faults. We reason along the most frequent failures in typical scenarios which we observed during real-world demonstrations and competitions using our Care-O-bot III robot. These events take place in an apartment-like environment. We create four different - for now adhoc - fault classes, which refer to faults caused by a) disturbances, b) imperfect perception, c) inadequate planning or d) chaining of action sequences. These four fault classes can then be mapped to a handful of partly known, partly extended fault handling techniques. In addition to existing techniques we propose an approach that uses naive physics concepts to find information about these kinds of situations. Here the naive physics knowledge is represented by the physical properties of objects which are formalized in a logical framework. The proposed approach applies a qualitative version of physical laws to these properties to reason about the fault. By interpreting the results the robot finds the information about the situations which can cause the fault.We apply this approach to scenarios in which a robot performs manipulation tasks (pick and place). The results show that naive physics hold great promises for reasoning about unknown external faults in the field of robotics.","keywords":"faults in robotics, naive physics, unexpected situations","author":[{"firstnames":["Anastassia"],"propositions":[],"lastnames":["Küstenmacher"],"suffixes":[]},{"firstnames":["Naveed"],"propositions":[],"lastnames":["Akhtar"],"suffixes":[]},{"firstnames":["Paul","G."],"propositions":[],"lastnames":["Plöger"],"suffixes":[]},{"propositions":[],"lastnames":["Lakemeyer"],"firstnames":["Gerhard"],"suffixes":[]}],"bibtex":"@inproceedings {KBSG_298,\n title = {Unexpected Situations in Service Robot Environment: Classification and Reasoning Using Naive Physics},\n journal = {17th annual RoboCup International Symposium},\n year = {2013},\n month = {07/2013},\n address = {Eindhoven, Netherlands},\n abstract = {Despite perfect functioning of its internal components, a robot can\r\nbe unsuccessful in performing its tasks because of unforeseen situations. Mostly\r\nthese situations arise from the interaction of a robot with its ever-changing environment.\r\nIn this paper we refer to these unsuccessful operations as external\r\nunknown faults. We reason along the most frequent failures in typical scenarios\r\nwhich we observed during real-world demonstrations and competitions using our\r\nCare-O-bot III robot. These events take place in an apartment-like environment.\r\nWe create four different - for now adhoc - fault classes, which refer to faults\r\ncaused by a) disturbances, b) imperfect perception, c) inadequate planning or d)\r\nchaining of action sequences. These four fault classes can then be mapped to a\r\nhandful of partly known, partly extended fault handling techniques.\r\nIn addition to existing techniques we propose an approach that uses naive physics\r\nconcepts to find information about these kinds of situations. Here the naive physics\r\nknowledge is represented by the physical properties of objects which are formalized\r\nin a logical framework. The proposed approach applies a qualitative version\r\nof physical laws to these properties to reason about the fault. By interpreting the\r\nresults the robot finds the information about the situations which can cause the\r\nfault.We apply this approach to scenarios in which a robot performs manipulation\r\ntasks (pick and place). The results show that naive physics hold great promises\r\nfor reasoning about unknown external faults in the field of robotics.},\n keywords = {faults in robotics, naive physics, unexpected situations},\n author = {Anastassia K{\\\"u}stenmacher and Naveed Akhtar and Paul G. Pl{\\\"o}ger and Lakemeyer, Gerhard}\n}\n","author_short":["Küstenmacher, A.","Akhtar, N.","Plöger, P. G.","Lakemeyer, G."],"key":"KBSG_298","id":"KBSG_298","bibbaseid":"kstenmacher-akhtar-plger-lakemeyer-unexpectedsituationsinservicerobotenvironmentclassificationandreasoningusingnaivephysics-2013","role":"author","urls":{},"keyword":["faults in robotics","naive physics","unexpected situations"],"metadata":{"authorlinks":{}}},"bibtype":"inproceedings","biburl":"https://kbsg.rwth-aachen.de/files/kbsgweb.bib","dataSources":["dqRQPSg6Hy3ZXQg7z"],"keywords":["faults in robotics","naive physics","unexpected situations"],"search_terms":["unexpected","situations","service","robot","environment","classification","reasoning","using","naive","physics","küstenmacher","akhtar","plöger","lakemeyer"],"title":"Unexpected Situations in Service Robot Environment: Classification and Reasoning Using Naive Physics","year":2013}