Implementing automated robot task planning and execution based on description logic KB

Abstract

For a service robot to perform a given task without human intervention, the robot must be able to make a plan, i.e., a sequence of high-level actions and execute it autonomously. Recently, a few researchers have investigated Description Logic-based task planning techniques. In this paper we discuss our implementation methods of Description Logic-based task planning and execution. Some knowledge representation scheme is investigated and a simple planning algorithm is conceived. Some techniques are conceived to bridge the gap between the symbolic world and the program world in order to execute the task plan. We also explain our experiments and the results we have got. © 2010 Springer-Verlag Berlin Heidelberg.