Fuzzy Representations and Control for Domestic Service Robots in Golog. Schiffer, S., Ferrein, A., & Lakemeyer, G. In Iocchi, L., Ruiz-del-Solar, J., & van der Zant, T., editors, Domestic Service Robots in the Real World. Workshop Proceedings of the International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2010), pages 183–192, Darmstadt, Germany, November 15-18, 2010. Workshop Paper abstract bibtex In the RoboCup@Home domestic robot competition, 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 concepts and showed how to embed fuzzy controllers in Golog. In this paper, we demonstrate how these notions can be fruitfully applied to two Robocup@Home scenarios. In the first application, we demonstrate how qualitative fluents based on a fuzzy set semantics can be deployed. In the second program, we show an example of a fuzzy controller for a follow-a-person task. While these programs have to be regarded as a proof-of-concept for the possibility to integrate qualitative concepts into Readylog beneficially for such applications, we aim at implementing these programs on our domestic robot platform in the future.
@inproceedings { Schiffer:Ferrein:Lakemeyer:SIMPAR2010:FuzzyAtHome,
title = {{Fuzzy Representations and Control for Domestic Service Robots in Golog}},
booktitle = {Domestic Service Robots in the Real World. Workshop Proceedings of the International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2010)},
year = {2010},
month = {November 15-18},
pages = {183--192},
address = {Darmstadt, Germany},
abstract = {In the RoboCup@Home domestic robot competition,
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 concepts and showed
how to embed fuzzy controllers in Golog. In this
paper, we demonstrate how these notions can be
fruitfully applied to two Robocup@Home scenarios. In
the first application, we demonstrate how
qualitative fluents based on a fuzzy set semantics
can be deployed. In the second program, we show an
example of a fuzzy controller for a follow-a-person
task. While these programs have to be regarded as a
proof-of-concept for the possibility to integrate
qualitative concepts into Readylog beneficially for
such applications, we aim at implementing these
programs on our domestic robot platform in the
future.},
keywords = {Control, Domestic, Fuzzy, Logic, Representations, Robotics, Service},
isbn = {978-3-00-032863-3},
url_Workshop = {http://www.dis.uniroma1.it/~iocchi/Events/SIMPAR10-ATHOME/},
url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/simpar2010fuzzyathome.pdf},
author = {Schiffer, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard},
editor = {Iocchi, Luca and Javier Ruiz-del-Solar and van der Zant, Tijn}
}
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