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dc.contributor.authorDiab, Mohammed
dc.contributor.authorPomarlan, Mihai
dc.contributor.authorBebler, Daniel
dc.contributor.authorAkbari, Aliakbar
dc.contributor.authorBateman, John
dc.contributor.authorBeetz, Michael
dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.otherUniversitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.identifier.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.
dc.descriptionThis 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:”.
dc.description.abstractAutonomous 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
dc.format.extent10 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshAutonomous robots
dc.subject.lcshMobile robots
dc.titleAn ontology for failure interpretation in automated planning and execution
dc.typeConference lecture
dc.subject.lemacRobots autònoms
dc.subject.lemacRobots mòbils
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.description.peerreviewedPeer Reviewed
dc.rights.accessOpen Access
dc.description.versionPostprint (author's final draft)
local.citation.authorDiab, M.; Pomarlan, M.; Bebler, D.; Akbari, A.; Bateman, J.; Beetz, M.; Rosell, J.
local.citation.contributorIberian Robotics Conference
local.citation.publicationNameROBOT 2019 : Fourth Iberian Robotics Conference, vol. 1

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