Diagnostic reasoning for robotics using action languages
Erdem, Esra and Patoğlu, Volkan and Sarıbatur, Zeynep Gözen (2015) Diagnostic reasoning for robotics using action languages. In: 13th International Conference on Logic Programming and Non-monotonic Reasoning (LPNMR 2015), Lexington, KY, USA
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Official URL: http://dx.doi.org/10.1007/978-3-319-23264-5_27
We introduce a novel diagnostic reasoning method for robotic systems with multiple robots, to find the causes of observed discrepancies relevant for plan execution. Our method proposes (i) a systematic modification of the robotic action domain description by utilizing defaults, and (ii) algorithms to compute a smallest set of diagnoses (e.g., broken robots) by means of hypothetical reasoning over the modified formalism. The proposed method is applied over various robotic scenarios in cognitive factories.
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