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 details which could or is probably not worthy in producing a plan to accomplish a aim. 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 method for the agent.

In this paintings, a unique technique which amalgamates Description good judgment (DL) reasoning with Hierarchical job community (HTN) making plans is brought. An research of the functionality of the technique has been carried out and the consequences express 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

Example text

Hence it is categorised as dl SHIN . owl– dl has the maximum expressiveness and still retains computational completeness. Thus, it is named after the Description Logics dl. It is equivalent to dl SHOIN . owl–Full is not really a sublanguage. It permits users to use maximum expressiveness and syntactic freedom of rdf, however it cannot guarantee the tractability of the reasoner. Every valid owl–Lite is also a valid owl–dl and every valid owl–dl is a valid owl–Full [75, 76, 62]. Just like rdf, owl describes the concepts and roles from dl syntax in xml format.

Its name is due to the uses of the STate ANalysis technique to enhance its performance. The state analysis is accomplished using the Type Inference Module (tim) [15]. tim analyses a planning domain in order to reveal a domain’s implicit type structure and various kinds of state invariants. This information is then used by the stan planner to filter inconsistent states from the domain, thus speeding up the planning algorithms. Besides that, domain designers can use this information to check the consistency of the domain.

Thus, it is able to perform complex tasks with the help of the planner while still preserving the reactive property from the behaviour-based layer. 1 compares the reactive and deliberative approaches. Due to the layered implementation, this paradigm is also known as the layered robot control architecture [43]. The first AI robot, Shakey, at Stanford University used this paradigm [51]. Some recently implemented robot architectures have also been based on this architecture. These include Autonomous Robot Architecture (AuRA) [48], Reactive Action Package (rap) [52], Task Control Architecture (tca) [53], Saphira [54], and DD &P [55].

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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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