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A Hybrid Deliberative Layer for Robotic Agents

Fusing DL Reasoning with HTN Planning in Autonomous Robots

  • Book
  • © 2011

Overview

Authors:
  1. Ronny Hartanto

    1. DFKI Robotics Innovation Center, Bremen, Germany

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  • Develops algorithms and concepts in DL for automatically generating the planning problem
  • Highlights the need for a deliberative layer in robotics and its role as a planning system of sorts
  • A novel approach for integrating DL reasoning and HTN planning is presented

Part of the book series: Lecture Notes in Computer Science (LNCS, volume 6798)

Part of the book sub series: Lecture Notes in Artificial Intelligence (LNAI)

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Table of contents (8 chapters)

  1. Front Matter

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  2. Introduction

    • Ronny Hartanto
    Pages 1-12

  3. The Hybrid Deliberative Layer

    • Ronny Hartanto
    Pages 13-41

  4. HDL Systems in the Robotics Domain

    • Ronny Hartanto
    Pages 43-77

  5. Case Study: “Johnny Jackanapes”

    • Ronny Hartanto
    Pages 79-102

  6. HDL Systems in the AI Domain

    • Ronny Hartanto
    Pages 103-121

  7. Results and Evaluation

    • Ronny Hartanto
    Pages 123-142

  8. Discussion

    • Ronny Hartanto
    Pages 143-149

  9. Conclusions

    • Ronny Hartanto
    Pages 151-155

  10. Back Matter

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Keywords

About this book

The Hybrid Deliberative Layer (HDL) solves the problem that an intelligent agent faces in dealing with a large amount of information which may or may not be useful in generating a plan to achieve a goal. The information, that an agent may need, is acquired and stored in the DL model. Thus, the HDL is used as the main knowledge base system for the agent. In this work, a novel approach which amalgamates Description Logic (DL) reasoning with Hierarchical Task Network (HTN) planning is introduced. An analysis of the performance of the approach has been conducted and the results show that this approach yields significantly smaller planning problem descriptions than those generated by current representations in HTN planning.

Authors and Affiliations

  • DFKI Robotics Innovation Center, Bremen, Germany

    Ronny Hartanto

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