Planning robotic agent actions using semantic knowledge for a home environment

• DOI: 10.20517/ir.2021.10
• Publication Date: 2021-12-25T11:34:58Z
• Authors: Rodrigo Bernardo; João M. C. Sousa; Paulo J. S. Gonça...
• Keywords: Planning; 0209 industrial biotechnology; Knowledge representation; Ontologies; Autonomous robotics; 02 engineering and technology; Semantic maps

Autonomous mobile robotic agents are increasingly present in highly dynamic environments, thus making the planning and execution of their tasks challenging. Task planning is vital in directing the actions of a robotic agent in domains where a causal chain could lock the agent into a dead-end state. This paper proposes a framework that integrates a domain ontology (home environment ontology) with a task planner (ROSPlan) to translate the objectives coming from a given agent (robot or human) into executable actions by a robotic agent.