Know Rob 2.0 — A 2nd Generation Knowledge Processing Framework for Cognition-Enabled Robotic Agents
| Autor: | Georg Bartels, Andrei Haidu, Asil Kaan Bozcuoglu, Daniel Bessler, Michael Beetz, Mihai Pomarlan |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Commonsense knowledge Knowledge representation and reasoning business.industry Interval temporal logic Robotics 02 engineering and technology NoSQL computer.software_genre Knowledge-based systems 020901 industrial engineering & automation Knowledge base Human–computer interaction 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Motion planning Artificial intelligence business computer |
| Zdroj: | ICRA |
| DOI: | 10.1109/icra.2018.8460964 |
| Popis: | In this paper we present KnowRob2, a second generation knowledge representation and reasoning framework for robotic agents. KnowRob2 is an extension and partial redesign of KnowRob, currently one of the most advanced knowledge processing systems for robots that has enabled them to successfully perform complex manipulation tasks such as making pizza, conducting chemical experiments, and setting tables. The knowledge base appears to be a conventional first-order time interval logic knowledge base, but it exists to a large part only virtually: many logical expressions are constructed on demand from data structures of the control program, computed through robotics algorithms including ones for motion planning and solving inverse kinematics problems, and log data stored in noSQL databases. Novel features and extensions of KnowRob2 substantially increase the capabilities of robotic agents of acquiring open-ended manipulation skills and competence, reasoning about how to perform manipulation actions more realistically, and acquiring commonsense knowledge. |
| Databáze: | OpenAIRE |
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