Browsing by Author "Diab, Mohammed"
Now showing items 1-14 of 14
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A review and comparison of ontology-based approaches to robot autonomy
(2019-01-01)
Article
Open AccessWithin 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
(2019)
Conference lecture
Open AccessAutonomous 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
(Springer, 2017)
Conference report
Restricted access - publisher's policyIn 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
(Springer, 2018)
Conference lecture
Open AccessAssembly 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 ... -
Automatic generation of behavior trees for the execution of robotic manipulation tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2021)
Conference report
Open AccessRobots should be able to exercise reasoning in both symbolic and geometric levels in order to plan a manipulation task. The execution of such tasks needs to be robust enough to cope with real environments. In an attempt ... -
Automating adaptive execution behaviors for robot manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Article
Open AccessRobotic manipulation in semi-structured and changing environments requires systems with: a) perception and reasoning capabilities able to capture and understand the state of the environment; b) planning and replanning ... -
Contingent task and motion planning under uncertainty for human–robot interactions
(Multidisciplinary Digital Publishing Institute, 2020-03-01)
Article
Open AccessManipulation 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
(2021)
Conference report
Open AccessAutonomous 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]
(2021)
Article
Open AccessThe 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
(2020)
Conference report
Open AccessEncoding 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
(Universitat Politècnica de Catalunya, 2021-01-22)
Doctoral thesis
Open AccessThis 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
(Multidisciplinary Digital Publishing Institute (MDPI), 2019-03-07)
Article
Open AccessAutonomous 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 ... -
Reasoning and state monitoring for the robust execution of robotic manipulation tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Conference lecture
Open AccessThe execution of robotic manipulation tasks needs to be robust in front of failures or changes in the environment, and for this purpose, Behavior Trees (BT) are a good alternative to Finite State Machines, because the ... -
SkillMaN — A skill-based robotic manipulation framework based on perception and reasoning
(2020-12)
Article
Restricted access - publisher's policyOne 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 ...
