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An ontology for failure interpretation in automated planning and execution

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2019-ROBOT-An_Ontology_for_Failure_Interpretation_and_Recovery_in_Automated_Planning_and_Execution_DiabEtAl.pdf (668,1Kb)
 
10.1007/978-3-030-35990-4_31
 
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hdl:2117/176664

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Diab, Mohammed
Pomarlan, Mihai
Bebler, Daniel
Akbari, AliakbarMés informació
Bateman, John
Beetz, Michael
Rosell Gratacòs, JanMés informacióMés informacióMés informació
Document typeConference lecture
Defense date2019
Rights accessOpen Access
Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain
Abstract
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 of failures can occur. In this paper, an interpretation ontology covering several sources of failures in automated planning and also during the execution phases is introduced with the purpose of working the planning more informed and the execution prepared for recovery. The proposed failure interpretation ontological module covers: (1) geometric failures, that may appear when e.g. the robot can not reach to grasp/place an object, there is no free-collision path or there is no feasible Inverse Kinematic (IK) solution. (2) hardware related failures that may appear when e.g. the robot in a real environment requires to be re-calibrated (gripper or arm), or it is sent to a non-reachable configuration. (3) software agent related failures, that may appear when e.g. the robot has software components that fail like when an algorithm is not able to extract the proper features. The paper describes the concepts and the implementation of failure interpretation ontology in several foundations like DUL and SUMO, and presents an example showing different situations in planning demonstrating the range of information the framework can provide for autonomous robots
Description
This is a post-peer-review, pre-copyedit version of an article published in ROBOT - Iberian Robotics Conference. The final authenticated version is available online at: http://dx.doi.org/10.1007/978-3-030-35990-4_31”.
CitationDiab, M. [et al.]. An ontology for failure interpretation in automated planning and execution. A: Iberian Robotics Conference. "ROBOT 2019 : Fourth Iberian Robotics Conference, vol. 1". 2019, p. 381-390. 
URIhttp://hdl.handle.net/2117/176664
DOI10.1007/978-3-030-35990-4_31
ISBN978-3-030-35989-8
Publisher versionhttps://link.springer.com/chapter/10.1007%2F978-3-030-35990-4_31
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  • Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos [1.451]
  • SIR - Service and Industrial Robotics - Ponències/Comunicacions de congressos [118]
  • Doctorat en Automàtica, Robòtica i Visió - Ponències/Comunicacions de congressos [141]
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