Artificial Intelligence - Special issue on logical formalizations and commonsense reasoning
Autonomous functional configuration of a network robot system
Robotics and Autonomous Systems
Bridging the Gap between High-Level Reasoning and Low-Level Control
LPNMR '09 Proceedings of the 10th International Conference on Logic Programming and Nonmonotonic Reasoning
Causal theories of action and change
AAAI'97/IAAI'97 Proceedings of the fourteenth national conference on artificial intelligence and ninth conference on Innovative applications of artificial intelligence
Applications of action languages in cognitive robotics
Correct Reasoning
Intelligent Service Robotics
Coordinating the web of services for a smart home
ACM Transactions on the Web (TWEB)
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We consider a housekeeping domain with multiple cleaning robots and represent it in the action language C+. With such a formalization of the domain, a plan can be computed using the causal reasoner CCALC for each robot to tidy some part of the house. However, to find a plan that characterizes a feasible trajectory that does not collide with obstacles, we need to consider geometric reasoning as well. For that, we embed motion planning in the domain description using external predicates. For safe execution of feasible plans, we introduce a planning and monitoring algorithm so that the robots can recover from plan execution failures due to heavy objects that cannot be lifted alone. The coordination of robots to help each other is considered for such a recovery. We illustrate the applicability of this algorithm with a simulation of a housekeeping domain.