Reasoning with Qualitative Positional Information for Domestic Domains in the Situation Calculus

Schiffer, Stefan; Ferrein, Alexander; Lakemeyer, Gerhard

doi:10.1007/s10846-011-9606-0

Cited by 31 publications

(16 citation statements)

References 39 publications

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“…They proposed Readylog, an extension of Golog, that represents and reasons on continuous action execution, the probabilistic effects of actions, qualitative positional information, etc. Execution monitoring ensures proper execution of actions [66].…”

Section: Cognitionmentioning

confidence: 99%

RoboCup@Home: Analysis and results of evolving competitions for domestic and service robots

Iocchi

Holz

Ruiz‐del‐Solar

et al. 2015

Artificial Intelligence

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Please cite this article in press as: L. Iocchi et al., ROBOCUP@HOME: Analysis and results of evolving competitions for domestic and service robots, Artificial Intelligence (2015), http://dx. AbstractScientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences.One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions.In this article, we present the RoboCup@Home competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that RoboCup@Home robots can solve but also the increased performance for all of the functionalities addressed in the competition.We believe that the methodology used in RoboCup@Home for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and Robotics.

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Section: Cognitionmentioning

confidence: 99%

RoboCup@Home: Analysis and results of evolving competitions for domestic and service robots

Iocchi

Holz

Ruiz‐del‐Solar

et al. 2015

Artificial Intelligence

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“…Such a language should have enough expressive power to state a basic and composite task in a declarative way, and should also be rich enough to allow for the expression of content and control information; it should also have abstraction capabilities to express complex behaviours in a simple way. The design and implementation of such a specification and programming languages is another area of service robots research, and significant efforts in this regard are already apparent ( [45,[50][51][52][53][54][55]). …”

Section: Task Specification Languagementioning

confidence: 99%

Concept and Functional Structure of a Service Robot

Pineda

Rodríguez

Fuentes

et al. 2015

International Journal of Advanced Robotic Systems

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In this paper, we present a concept of service robot and a framework for its functional specification and implementation. The present discussion is grounded in Newell's system levels hierarchy which suggests organizing robotics research in three different layers, corresponding to Marr's computational, algorithmic and implementation levels, as follows: (1) the service robot proper, which is the subject of the present paper, (2) perception and action algorithms, and (3) the systems programming level. The concept of a service robot is articulated in practice through the introduction of a conceptual model for particular service robots; this consists of the specification of a set of basic robotic behaviours and a number of mechanisms for assembling such behaviours during the execution of complex tasks. The model involves an explicit representation of the task structure, allowing for deliberative reasoning and task management. The model also permits distinguishing between a robot's competence and performance, along the lines of Chomsky's corresponding distinction. We illustrate how this model can be realized in practice with two composition modes that we call static and dynamic; these are illustrated with the Restaurant Test and the General Purpose Service Robot Test of the RoboCup@Home competition, respectively. The present framework and methodology has been implemented in the robot Golem-II+, which is also described. The paper is concluded with an overall reflection upon the present concept of a service robot and its associated functional specifications, and the potential impact of such a conceptual model in the study, development and application of service robots in general.

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“…inference on qualitative information in order to control robots [36], beliefs change of robots [37], [38] -the second work contains also a description of application performing tasks of changing the beliefs; change of agents' beliefs with incomplete or imprecise knowledge about the environment [39]. These are proposals that may inspire the use of situation calculus in a temporal intelligent system supporting organizational creativity.…”

Section: Proposals Of Temporal Formalization For Organizational Cmentioning

confidence: 99%