Hierarchical planning through operator and world abstraction using ontology for home service robots

Dongyeop Kang, Ho Jin Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In order to reduce the number of search space in planning, many abstraction techniques are introduced. For example, several hierarchical planners already provide significant reduction in search space. Hierarchical planning in real world, however, requires not only planning knowledge such as plan operators but domain knowledge used for describing world model. One of most important issue for Hierarchical Planning through Operator and World Abstraction (HPOWA) is to model an efficient, semantic, and flexible knowledge representation for both planning and domain knowledge. From the profound investigation of existing abstraction-based planning researches, we obtain several limitations of hierarchical planning for real world environments. Thus, we apply ontology to model knowledge representation for operator, world model and their interaction. Constructed robot ontology consists of action, object and context classes. The three layers of concepts link up operator knowledge with domain knowledge in world model. The concepts for each class are hierarchically represented for efficient hierarchical reasoning. The semantic relations among the domain concepts or sequential relations between plan operators are represented as relations and attributes o the ontology.

Original languageEnglish (US)
Title of host publication11th International Conference on Advanced Communication Technology, ICACT 2009 - Proceedings
Pages2209-2214
Number of pages6
StatePublished - 2009
Externally publishedYes
Event11th International Conference on Advanced Communication Technology, ICACT 2009 - Phoenix Park, Korea, Republic of
Duration: Feb 15 2009Feb 18 2009

Publication series

NameInternational Conference on Advanced Communication Technology, ICACT
Volume3
ISSN (Print)1738-9445

Conference

Conference11th International Conference on Advanced Communication Technology, ICACT 2009
Country/TerritoryKorea, Republic of
CityPhoenix Park
Period2/15/092/18/09

Keywords

  • Hierarchical planning
  • Ontology
  • Operator/world abstraction
  • Semantic planning

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