Housekeeping with multiple autonomous robots: representation, reasoning and execution

Aker, Erdi and Erdoğan, Ahmetcan and Erdem, Esra and Patoğlu, Volkan (2011) Housekeeping with multiple autonomous robots: representation, reasoning and execution. In: Tenth International Symposium on Logical Formalization on Commonsense Reasoning (Commonsense 2011), San Francisco, CA, USA

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Abstract

We formalize actions and change in a housekeeping domain with multiple cleaning robots, and commonsense knowledge about this domain, in the action language C+. Geometric reasoning is lifted to high-level representation by embedding motion planning in the domain description using external predicates. With such a formalization of the domain, a plan can be computed using the causal reasoner CCALC for each robot to tidy some part of the house. We introduce a planning and monitoring algorithm for safe execution of these plans, so that it can recover from plan failures due to collision with movable objects whose presence and location are not known in advance or due to heavy objects that cannot be lifted alone. We illustrate the applicability of this algorithm with a simulation of a housekeeping domain.
Item Type: Papers in Conference Proceedings
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences > Academic programs > Computer Science & Eng.
Faculty of Engineering and Natural Sciences
Depositing User: Esra Erdem
Date Deposited: 07 Jan 2012 22:56
Last Modified: 26 Apr 2022 09:04
URI: https://research.sabanciuniv.edu/id/eprint/18174

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