scholarly journals RTPO: A Domain Knowledge Base for Robot Task Planning

Electronics ◽  
2019 ◽  
Vol 8 (10) ◽  
pp. 1105 ◽  
Author(s):  
Sun ◽  
Zhang ◽  
Chen

Knowledge can enhance the intelligence of robots’ high-level decision-making. However, there is no specific domain knowledge base for robot task planning in this field. Aiming to represent the knowledge in robot task planning, the Robot Task Planning Ontology (RTPO) is first designed and implemented in this work, so that robots can understand and know how to carry out task planning to reach the goal state. In this paper, the RTPO is divided into three parts: task ontology, environment ontology, and robot ontology, followed by a detailed description of these three types of knowledge, respectively. The OWL (Web Ontology Language) is adopted to represent the knowledge in robot task planning. Then, the paper proposes a method to evaluate the scalability and responsiveness of RTPO. Finally, the corresponding task planning algorithm is designed based on RTPO, and then the paper conducts experiments on the basis of the real robot TurtleBot3 to verify the usability of RTPO. The experimental results demonstrate that RTPO has good performance in scalability and responsiveness, and the robot can achieve given high-level tasks based on RTPO.

Author(s):  
Iraj Mantegh

A task planning method is presented to model and reproduce robot trajectories based on those captured from human demonstrations. In the framework of the Programming by Demonstration (PbD) approach, task planning algorithm is developed to determine the general type of trajectory pattern, its parameters, and its kinematic profile. The pattern is described independently of the shape of the surface on which it is demonstrated. Key pattern points are identified based on changes in direction and velocity, and are then reduced based on their proximity. The results of the analysis are provided are used inside a task planning algorithm, to produce robot trajectories based on the workpiece geometries. The trajectory is output in the form of robot native language code so that it can be readily downloaded on the robot.


2016 ◽  
Vol 7 (1) ◽  
pp. 56-77 ◽  
Author(s):  
Ahmed Abdulhadi Al-Moadhen ◽  
Michael Packianather ◽  
Rossitza Setchi ◽  
Renxi Qiu

A new method is proposed to increase the reliability of generating symbolic plans by extending the Semantic-Knowledge Based (SKB) plan generation to take into account the amount of information and uncertainty related to existing objects, their types and properties, as well as their relationships with each other. This approach constructs plans by depending on probabilistic values which are derived from learning statistical relational models such as Markov Logic Networks (MLN). An MLN module is established for probabilistic learning and inference together with semantic information to provide a basis for plausible learning and reasoning services in support of robot task-planning. The MLN module is constructed by using an algorithm to transform the knowledge stored in SKB to types, predicates and formulas which represent the main building block for this module. Following this, the semantic domain knowledge is used to derive implicit expectations of world states and the effects of the action which is nominated for insertion into the task plan. The expectations are matched with MLN output.


Author(s):  
Renxi Qiu ◽  
Alexandre Noyvirt ◽  
Ze Ji ◽  
Anthony Soroka ◽  
Dayou Li ◽  
...  

To ensure a robot capable of robust task execution in unstructured environments, task planners need to have a high-level understanding of the nature of the world, reasoning for deliberate actions, and reacting to environment changes. Proposed is a practical task planning approach that seamlessly integrating deeper domain knowledge, real time perception and symbolic planning for robot operation. A higher degree of autonomy under unstructured environment will be endowed to the robot with the proposed approach.


2021 ◽  
Vol 11 (17) ◽  
pp. 8072
Author(s):  
Hossam A. Gabbar ◽  
Sk Sami Al Jabar ◽  
Hassan A. Hassan ◽  
Jing Ren

An organized knowledge structure or knowledge base plays a vital role in retaining knowledge where data are processed and organized so that machines can understand. Instructive text (iText) consists of a set of instructions to accomplish a task or operation. Hence, iText includes a group of texts having a title or name of the task or operation and step-by-step instructions on how to accomplish the task. In the case of iText, storing only entities and their relationships with other entities does not always provide a solution for capturing knowledge from iTexts as it consists of parameters and attributes of different entities and their action based on different operations or procedures and the values differ for every individual operation or procedure for the same entity. There is a research gap in iTexts that created limitations to learn about different operations, capture human experience and dynamically update knowledge for every individual operation or instruction. This research presents a knowledge base for capturing and retaining knowledge from iTexts existing in operational documents. From each iTexts, small pieces of knowledge are extracted and represented as nodes linked to one another in the form of a knowledge network called the human experience semantic network (HESN). HESN is the crucial component of our proposed knowledge base. The knowledge base also consists of domain knowledge having different classified terms and key phrases of the specific domain.


2018 ◽  
Author(s):  
Xia Jing ◽  
Nicholas R Hardiker ◽  
Stephen Kay ◽  
Yongsheng Gao

BACKGROUND Ontologies are key enabling technologies for the Semantic Web. The Web Ontology Language (OWL) is a semantic markup language for publishing and sharing ontologies. OBJECTIVE The supply of customizable, computable, and formally represented molecular genetics information and health information, via electronic health record (EHR) interfaces, can play a critical role in achieving precision medicine. In this study, we used cystic fibrosis as an example to build an Ontology-based Knowledge Base prototype on Cystic Fibrobis (OntoKBCF) to supply such information via an EHR prototype. In addition, we elaborate on the construction and representation principles, approaches, applications, and representation challenges that we faced in the construction of OntoKBCF. The principles and approaches can be referenced and applied in constructing other ontology-based domain knowledge bases. METHODS First, we defined the scope of OntoKBCF according to possible clinical information needs about cystic fibrosis on both a molecular level and a clinical phenotype level. We then selected the knowledge sources to be represented in OntoKBCF. We utilized top-to-bottom content analysis and bottom-up construction to build OntoKBCF. Protégé-OWL was used to construct OntoKBCF. The construction principles included (1) to use existing basic terms as much as possible; (2) to use intersection and combination in representations; (3) to represent as many different types of facts as possible; and (4) to provide 2-5 examples for each type. HermiT 1.3.8.413 within Protégé-5.1.0 was used to check the consistency of OntoKBCF. RESULTS OntoKBCF was constructed successfully, with the inclusion of 408 classes, 35 properties, and 113 equivalent classes. OntoKBCF includes both atomic concepts (such as amino acid) and complex concepts (such as “adolescent female cystic fibrosis patient”) and their descriptions. We demonstrated that OntoKBCF could make customizable molecular and health information available automatically and usable via an EHR prototype. The main challenges include the provision of a more comprehensive account of different patient groups as well as the representation of uncertain knowledge, ambiguous concepts, and negative statements and more complicated and detailed molecular mechanisms or pathway information about cystic fibrosis. CONCLUSIONS Although cystic fibrosis is just one example, based on the current structure of OntoKBCF, it should be relatively straightforward to extend the prototype to cover different topics. Moreover, the principles underpinning its development could be reused for building alternative human monogenetic diseases knowledge bases.


Author(s):  
Dongcai Lu ◽  
Yi Zhou ◽  
Feng Wu ◽  
Zhao Zhang ◽  
Xiaoping Chen

In this paper, we propose a novel integrated task planning system for service robot in domestic domains. Given open-ended high-level user instructions in natural language, robots need to generate a plan, i.e., a sequence of low-level executable actions, to complete the required tasks. To address this, we exploit the knowledge on semantic roles of common verbs defined in semantic dictionaries such as FrameNet and integrate it with Answer Set Programming --- a task planning framework with both representation language and solvers. In the experiments, we evaluated our approach using common benchmarks on service tasks and showed that it can successfully handle much more tasks than the state-of-the-art solution. Notably, we deployed the proposed planning system on our service robot for the annual RoboCup@Home competitions and achieved very encouraging results.


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