Planning Routes through uncertain territory
Artificial Intelligence
Proceedings of the 2nd International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems on Uncertainty and intelligent systems
Formulation of qualitative models using fuzzy logic
Decision Support Systems - Special issue: DSS on model formulation
Qualitative representation of positional information
Artificial Intelligence
The handbook of brain theory and neural networks
Individual and multipersonal fuzzy spatial relations acquired using human-machine interaction
Fuzzy Sets and Systems - Special issue on Uncertainty in geographic information systems and spatial data
ConGolog, a concurrent programming language based on the situation calculus
Artificial Intelligence
Knowlege in action: logical foundations for specifying and implementing dynamical systems
Knowlege in action: logical foundations for specifying and implementing dynamical systems
Fuzzy Control
Knowledge Representation in Fuzzy Logic
IEEE Transactions on Knowledge and Data Engineering
Coarse Qualitative Descriptions in Robot Navigation
Spatial Cognition II, Integrating Abstract Theories, Empirical Studies, Formal Methods, and Practical Applications
From Motion Observation to Qualitative Motion Representation
Spatial Cognition II, Integrating Abstract Theories, Empirical Studies, Formal Methods, and Practical Applications
Qualitative Spatial Reasoning: A Semi-quantitative Approach Using Fuzzy Logic
SSD '89 Proceedings of the First Symposium on Design and Implementation of Large Spatial Databases
Decision-Theoretic, High-Level Agent Programming in the Situation Calculus
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Using Orientation Information for Qualitative Spatial Reasoning
Proceedings of the International Conference GIS - From Space to Territory: Theories and Methods of Spatio-Temporal Reasoning on Theories and Methods of Spatio-Temporal Reasoning in Geographic Space
Qualitative Spatial Representation and Reasoning: An Overview
Fundamenta Informaticae - Qualitative Spatial Reasoning
PCAR '06 Proceedings of the 2006 international symposium on Practical cognitive agents and robots
Logic-based robot control in highly dynamic domains
Robotics and Autonomous Systems
A Fuzzy Set Semantics for Qualitative Fluents in the Situation Calculus
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
International Journal of Approximate Reasoning
Embedding fuzzy controllers in Golog
FUZZ-IEEE'09 Proceedings of the 18th international conference on Fuzzy Systems
Right-of-way rules as use case for integrating GOLOG and qualitative reasoning
KI'09 Proceedings of the 32nd annual German conference on Advances in artificial intelligence
On the way to high-level programming for resource-limited embedded systems with Golog
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Exploiting qualitative spatial neighborhoods in the situation calculus
SC'04 Proceedings of the 4th international conference on Spatial Cognition: reasoning, Action, Interaction
On fuzzy logic applications for automatic control, supervision, and fault diagnosis
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Improvements and critique on Sugeno's and Yasukawa's qualitative modeling
IEEE Transactions on Fuzzy Systems
Fuzzy Qualitative Robot Kinematics
IEEE Transactions on Fuzzy Systems
Developmental stages of perception and language acquisition in a perceptually grounded robot
Cognitive Systems Research
Caesar: an intelligent domestic service robot
Intelligent Service Robotics
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In this paper, we present a thorough integration of qualitative representations and reasoning for positional information for domestic service robotics domains into our high-level robot control. In domestic settings for service robots like in the RoboCup@Home competitions, complex tasks such as "get the cup from the kitchen and bring it to the living room" or "find me this and that object in the apartment" have to be accomplished. At these competitions the robots may only be instructed by natural language. As humans use qualitative concepts such as "near" or "far", the robot needs to cope with them, too. For our domestic robot, we use the robot programming and plan language Readylog, our variant of Golog. In previous work we extended the action language Golog, which was developed for the high-level control of agents and robots, with fuzzy set-based qualitative concepts. We now extend our framework to positional fuzzy fluents with an associated positional context called frames. With that and our underlying reasoning mechanism we can transform qualitative positional information from one context to another to account for changes in context such as the point of view or the scale. We demonstrate how qualitative positional fluents based on a fuzzy set semantics can be deployed in domestic domains and showcase how reasoning with these qualitative notions can seamlessly be applied to a fetch-and-carry task in a RoboCup@Home scenario.