Title
On planning in a knowledge-hypergraph
Author
Sijs, J.
van Vught, W.
Voogd, J.
Publication year
2020
Abstract
Autonomous robots that operate in indoor, uncertain environments move around from one location to the next to fulfill a set of ordered task. To do so, they need a floor plan of the building to plan their route. In case the building is unfamiliar to a robot it can employ online mapping techniques, though these techniques are resource intensive and time consuming. In addition, processing such geometric maps in an automated planner to determine a feasible route is resource demanding as well. The solution proposed in this article is an ontology that combines knowledge of floor plans and actual information of a building with concepts in automated planning, so that robots become more efficient in route planning. Moreover, the ontology is implemented as a hypergraph to benefit from its advances in creating elegant inference-rules, e.g., to infer route-alternatives while preparing the operation.
Subject
Knowledge representation
Task
Floors
Ontology
Robots
Automated planning
Floorplans
Geometric maps
Hypergraph
Inference rules
Online mapping
Route planning
Uncertain environments
Robot programming
To reference this document use:
http://resolver.tudelft.nl/uuid:ec064dbe-1fb1-43e0-8455-6a7691b3e014
TNO identifier
955331
Publisher
CEUR-WS
ISSN
1613-0073
Source
CEUR Workshop Proceedings, 2020 Joint Ontology Workshops, JOWO 2020, 31 August 2020 through 7 October 2020
Document type
conference paper