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

By Ronny Hartanto

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

In this paintings, a singular strategy which amalgamates Description common sense (DL) reasoning with Hierarchical job community (HTN) making plans is brought. An research of the functionality of the process has been performed and the implications exhibit that this strategy yields considerably smaller making plans challenge descriptions than these generated via present representations in HTN planning.

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Extra info for A Hybrid Deliberative Layer for Robotic Agents: Fusing DL Reasoning with HTN Planning in Autonomous Robots

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In this work, the hdl system’s implementation is presented through a number of use cases. Two robotics domains, namely the navigation domain and the pick-and-place domain are presented and explained in detail. In addition, the well known AI planning domain, blocks world, is also solved using the hdl system. One might also implement other planning domains in the hdl system by using the same approach as shown in these use cases. A real robot implementation is shown as a use case in the RoboCup@Home domain.

C (≤ n R) (≥ n R) {a1 . . C) Language2 FL0 FL− AL S C U E N O H I Q 1 A refers to atomic concepts, C and D refers to any concept definition, R refers to atomic roles and S refers to role definitions. 2 F L is used for structural DL languages and AL for attributive languages [73]. S is the name used for the language ALC R+ , which is composed of ALC plus transitive roles. 3 ALC and ALCU E are equivalent languages, since union (U ) and existential restriction (E) can be represented using negation (C).

15 or as follows: Operator(o2), hasOperator(o2,o5), hasOperator(o2,o6), useState(o2,s1), useState(o2,s2), useState(o2,s3), shop2code(o2,sc2) 36 2 The Hybrid Deliberative Layer Operator(o2) hasOperator(o5) hasOperator(o6) useState(s1) useState(s2) useState(s3) shop2code(sc2) Fig. 15.

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