Now showing items 1-11 of 11

    • A review and comparison of ontology-based approaches to robot autonomy 

      Olivares Alarcos, Alberto; Bebler, Daniel; Khamis, Alaa; Goncalves, Paulo; Habib, Maki K.; Bermejo Alonso, Julita; Barreto, Marcoss; Diab, Mohammed; Rosell Gratacòs, Jan; Quintas, João; Olszewska, Joanna; Nakawala, Hirenkumar; Pignaton de Freitas, Edison; Gyrard, Amelie; Borgo, Stefano; Alenyà Ribas, Guillem; Beetz, Michael; Li, Howard (2019-01-01)
      Article
      Open Access
      Within the next decades, robots will need to be able to execute a large variety of tasks autonomously in a large variety of environments. To relax the resulting programming effort, a knowledge-enabled approach to robot ...
    • An ontology for failure interpretation in automated planning and execution 

      Diab, Mohammed; Pomarlan, Mihai; Bebler, Daniel; Akbari, Aliakbar; Bateman, John; Beetz, Michael; Rosell Gratacòs, Jan (2019)
      Conference lecture
      Open Access
      Autonomous indoor robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions, where task and motion planning levels are coupled. In both planning levels and execution phase, several source ...
    • An Ontology Framework for Physics-Based Manipulation Planning 

      Diab, Mohammed; Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2017)
      Conference report
      Restricted access - publisher's policy
      In manipulation planning, dynamic interactions between the objects and the robots play a significant role. In this scope, dynamic engines allow to consider them within motion planners, giving rise to physics-based motion ...
    • Assembly planning in cluttered environments through heterogeneous reasoning 

      Beßler, Daniel; Pomarlan, Mihai; Akbari, Aliakbar; Ud Din, Muhayy; Diab, Mohammed; Rosell Gratacòs, Jan; Bateman, John; Beetz, Michael (Springer, 2018)
      Conference lecture
      Open Access
      Assembly recipes can elegantly be represented in description logic theories. With such a recipe, the robot can figure out the next assembly step through logical inference. However, before performing an action, the robot ...
    • Contingent task and motion planning under uncertainty for human–robot interactions 

      Akbari, Aliakbar; Rosell Gratacòs, Jan; Diab, Mohammed (Multidisciplinary Digital Publishing Institute, 2020-03-01)
      Article
      Open Access
      Manipulation planning under incomplete information is a highly challenging task for mobile manipulators. Uncertainty can be resolved by robot perception modules or using human knowledge in the execution process. Human ...
    • FailRecOnt - An ontology-based framework for failure interpretation and recovery in planning and execution 

      Diab, Mohammed; Pomarlan, Mihai; Borgo, Stefano; Bebler, Daniel; Rosell Gratacòs, Jan; Bateman, John; Beetz, Michael (2021)
      Conference report
      Open Access
      Autonomous mobile robot manipulators have the potential to act as robot helpers at home to improve quality of life for various user populations, such as elderly or handicapped people, or to act as robot co-workers on factory ...
    • IEEE Standard for Autonomous Robotics Ontology [Standards] 

      Goncalves, Paulo; Olivares Alarcos, Alberto; Bermejo Alonso, Julita; Borgo, Stefano; Diab, Mohammed; Habib, Maki K.; Nakawala, Hirenkumar; Kumar, Veera Ragavan Sampath; Sanz Cortiella, Ricardo; Tosello, Elisa; Li, Howard (2021)
      Article
      Open Access
      The IEEE1872.2 Autonomous Robotics (AuR) Ontology Working Group has recently developed the AuR ontology standard. This standard is a logical extension to IEEE 1872–2015 Standard Ontologies for Robotics and Automation, core ...
    • “Knowing from” – An outlook on ontology enabled knowledge transfer for robotic systems 

      Diab, Mohammed; Pomerlan, Mihai; Bebler, Daniel; Rosell Gratacòs, Jan (2020)
      Conference report
      Open Access
      Encoding practical knowledge about everyday activities has proven difficult, and is a limiting factor in the progress of autonomous robotics. Learning approaches, e.g. imitation learning from human data, have been used as ...
    • Knowledge representation and reasoning for perception-based manipulation planning 

      Diab, Mohammed (Universitat Politècnica de Catalunya, 2021-01-22)
      Doctoral thesis
      Open Access
      This thesis develops a series of modeling and reasoning tools for knowledge-oriented manipulation planning in semi/unstructured environments. The main idea is to use high-level knowledge-based reasoning to capture a rich ...
    • PMK : a knowledge processing framework for autonomous robotics perception and manipulation 

      Diab, Mohammed; Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (Multidisciplinary Digital Publishing Institute (MDPI), 2019-03-07)
      Article
      Open Access
      Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial ...
    • SkillMaN — A skill-based robotic manipulation framework based on perception and reasoning 

      Diab, Mohammed; Pomarlan, Mihai; Beßler, Daniel; Rosell Gratacòs, Jan; Akbari, Aliakbar; Bateman, John; Beetz, Michael (2020-12)
      Article
      Restricted access - publisher's policy
      One of the problems that service robotics deals with is to bring mobile manipulators to work in semi-structured human scenarios, which requires an efficient and flexible way to execute every-day tasks, like serve a cup in ...