Abstract
Artificial intelligence (GlossaryTerm
AI
) reasoning technology involving, e. g., inference, planning, and learning, has a track record with a healthy number of successful applications. So can it be used as a toolbox of methods for autonomous mobile robots? Not necessarily, as reasoning on a mobile robot about its dynamic, partially known environment may differ substantially from that in knowledge-based pure software systems, where most of the named successes have been registered. Moreover, recent knowledge about the robot’s environment cannot be given a priori, but needs to be updated from sensor data, involving challenging problems of symbol grounding and knowledge base change.This chapter sketches the main robotics-relevant topics of symbol-based AI reasoning. Basic methods of knowledge representation and inference are described in general, covering both logic- and probability-based approaches. The chapter first gives a motivation by example, to what extent symbolic reasoning has the potential of helping robots perform in the first place. Then (Sect. 14.2), we sketch the landscape of representation languages available for the endeavor. After that (Sect. 14.3), we present approaches and results for several types of practical, robotics-related reasoning tasks, with an emphasis on temporal and spatial reasoning. Plan-based robot control is described in some more detail in Sect. 14.4. Section 14.5 concludes.
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Abbreviations
- 2-D:
-
two-dimensional
- AAAI:
-
Association for the Advancement of Artificial Intelligence
- AI:
-
artificial intelligence
- BN:
-
Bayesian network
- CDC:
-
cardinal direction calculus
- CSP:
-
constraint satisfaction problem
- DBN:
-
dynamic Bayesian network
- DC:
-
disconnected
- DL:
-
description logic
- DPLL:
-
Davis–Putnam algorithm
- ECAI:
-
European Conference on Artificial Intelligence
- EC:
-
externally connected
- FF:
-
fast forward
- FOPL:
-
first-order predicate logic
- HTN:
-
hierarchical task network
- IA:
-
interval algebra
- ICAPS:
-
International Conference on Automated Planning and Scheduling
- IJCAI:
-
International Joint Conference on Artificial Intelligence
- IPC:
-
international AI planning competition
- KR:
-
knowledge representation
- LTL:
-
linear temporal logic
- MDP:
-
Markov decision process
- NTPP:
-
nontangential proper part
- OUR-K:
-
ontology based unified robot knowledge
- OWL:
-
web ontology language
- PA:
-
point algebra
- PI:
-
policy iteration
- POMDP:
-
partially observable Markov decision process
- PO:
-
partially overlapping
- POP:
-
partial-order planning
- PRM:
-
probabilistic roadmap
- RA:
-
rectangle algebra
- RCC:
-
region connection calculus
- SAT:
-
International Conference on Theory and Applications of Satisfiability Testing
- SMT:
-
satisfiabiliy modulo theory
- STP:
-
simple temporal problem
- TAL:
-
temporal action logic
- TCSP:
-
temporal constraint satisfaction problem
- TL:
-
temporal logic
- TPP:
-
tangential proper part
- VI:
-
value iteration
- W3C:
-
WWW consortium
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SHAKEY: Experimentation in robot learning and planning (1969) available from http://handbookofrobotics.org/view-chapter/14/videodetails/704
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From knowledge grounding to dialogue processing available from http://handbookofrobotics.org/view-chapter/14/videodetails/705
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RoboEarth final demonstrator available from http://handbookofrobotics.org/view-chapter/14/videodetails/706
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Beetz, M., Chatila, R., Hertzberg, J., Pecora, F. (2016). AI Reasoning Methods for Robotics. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_14
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