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Robot task planning and explanation in open and uncertain worlds

Hanheide, Marc; Gobelbecker, Moritz; Horn, Graham S; Pronobis, Andrzej; Sjoo, Kristoffer; Aydemir, Alper; Jensfelt, Patric; Gretton, Charles; Dearden, Richard; Janicek, Miroslav; Hendrik, Zender; Kruijff, Geert-Jan; Hawes, Nick; Wyatt, Jeremy L


A long-standing goal of AI is to enable robots to plan in the face of uncertain and incomplete information, and to handle task failure intelligently. This paper shows how to achieve this. There are two central ideas. The first idea is to organize the robot’s knowledge into three layers: instance knowledge at the bottom, commonsense knowledge above that, and diagnostic knowledge on top. Knowledge in a layer above can be used to modify knowledge in the layer(s) below. The second idea is that the...[Show more]

CollectionsANU Research Publications
Date published: 2017
Type: Journal article
Source: Artificial Intelligence
DOI: 10.1016/j.artint.2015.08.008


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