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Ontology-Based Unified Robot Knowledge for Service Robots in Indoor Environments

Ontology-Based Unified Robot Knowledge for Service Robots in Indoor Environments,10.1109/TSMCA.2010.2076404,IEEE Transactions on Systems, Man, and Cyb

Ontology-Based Unified Robot Knowledge for Service Robots in Indoor Environments   (Citations: 2)
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A significant obstacle for service robots is the execu- tion of complex tasks in real environments. For example, it is not easy for service robots to find objects that are partially observable and are located at a place which is not identical but near the place where the robots saw them previously. To overcome the challenge effectively, robot knowledge represented as a semantic network can be extremely useful. This paper presents an ontology-based unified robot knowledge framework that integrates low-level data with high-level knowledge for robot intelligence. This frame- work consists of two sections: knowledge description and knowl- edge association. Knowledge description includes comprehensively integrated robot knowledge derived from low-level knowledge regarding perceptual features, part objects, metric maps, and primitive behaviors, as well as high-level knowledge about percep- tual concepts, objects, semantic maps, tasks, and contexts. Knowl- edge association uses logical inference with both unidirectional and bidirectional rules. This characteristic enables reasoning to be performed even when only a partial information is available. The experimental results that demonstrate the advantages of using the proposed knowledge framework are also presented.
Journal: IEEE Transactions on Systems, Man, and Cybernetics - TSMC , vol. 41, no. 3, pp. 492-509, 2011
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