Deliberative and Conceptual Inference in Service Robots
Por:
Pineda, Luis A., Hernandez, Noe, Rodriguez, Arturo, Cruz, Ricardo, Fuentes, Gibran
Publicada:
1 feb 2021
Resumen:
Service robots need to reason to support people in daily life
situations. Reasoning is an expensive resource that should be used on
demand whenever the expectations of the robot do not match the situation
of the world and the execution of the task is broken down; in such
scenarios, the robot must perform the common sense daily life inference
cycle consisting on diagnosing what happened, deciding what to do about
it, and inducing and executing a plan, recurring in such behavior until
the service task can be resumed. Here, we examine two strategies to
implement this cycle: (1) a pipe-line strategy involving abduction,
decision-making, and planning, which we call deliberative inference and
(2) the use of the knowledge and preferences stored in the robot's
knowledge-base, which we call conceptual inference. The former involves
an explicit definition of a problem-space that is explored through
heuristic search, and the latter is based on conceptual knowledge,
including the human user preferences, and its representation requires a
non-monotonic knowledge-based system. We compare the strengths and
limitations of both approaches. We also describe a service robot
conceptual model and architecture capable of supporting the daily life
inference cycle during the execution of a robotics service task. The
model is centered in the declarative specification and interpretation of
robot's communication and task structure. We also show the
implementation of this framework in the fully autonomous robot
Golem-III. The framework is illustrated with two demonstration
scenarios.
Filiaciones:
Pineda, Luis A.:
Department of Computer Science, Instituto de Investigaciones en Matemáticas Aplicadas y en Sistemas, Universidad Nacional Autónoma de México, Coyoacán, 04510, Mexico
Hernandez, Noe:
Department of Computer Science, Instituto de Investigaciones en Matemáticas Aplicadas y en Sistemas, Universidad Nacional Autónoma de México, Coyoacán, 04510, Mexico
Rodriguez, Arturo:
Facultad de Estudios Superiores Aragón, Universidad Nacional Autónoma de México, Av Hacienda de Rancho Seco S/N, Impulsora Popular Avícola57130, Mexico
Cruz, Ricardo:
Department of Computer Science, Instituto de Investigaciones en Matemáticas Aplicadas y en Sistemas, Universidad Nacional Autónoma de México, Coyoacán, 04510, Mexico
Fuentes, Gibran:
Department of Computer Science, Instituto de Investigaciones en Matemáticas Aplicadas y en Sistemas, Universidad Nacional Autónoma de México, Coyoacán, 04510, Mexico
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