Planning for conjunctive goals
Artificial Intelligence
Ontologically Controlled Autonomous Systems: Principles, Operations, and Architecture
Ontologically Controlled Autonomous Systems: Principles, Operations, and Architecture
An Architecture for Normative Reactive Agents
Proceedings of the 5th Pacific Rim International Workshop on Multi Agents: Intelligent Agents and Multi-Agent Systems
Automated Planning: Theory & Practice
Automated Planning: Theory & Practice
The Description Logic Handbook
The Description Logic Handbook
Cognitive maps for mobile robots-an object based approach
Robotics and Autonomous Systems
Pellet: A practical OWL-DL reasoner
Web Semantics: Science, Services and Agents on the World Wide Web
A revision-based approach to handling inconsistency in description logics
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Conceptual spatial representations for indoor mobile robots
Robotics and Autonomous Systems
Curious George: An attentive semantic robot
Robotics and Autonomous Systems
Maintenance goals of agents in a dynamic environment: Formulation and policy construction
Artificial Intelligence
Autonomous functional configuration of a network robot system
Robotics and Autonomous Systems
Editorial: Using semantic knowledge in robotics
Robotics and Autonomous Systems
Towards semantic maps for mobile robots
Robotics and Autonomous Systems
Towards 3D Point cloud based object maps for household environments
Robotics and Autonomous Systems
Monitoring the execution of robot plans using semantic knowledge
Robotics and Autonomous Systems
Robot task planning using semantic maps
Robotics and Autonomous Systems
Knowledge integration for description logics
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 2
Interacting goals and their use
IJCAI'75 Proceedings of the 4th international joint conference on Artificial intelligence - Volume 1
The stabilization of environments
Artificial Intelligence
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Multi-modal Semantic Place Classification
International Journal of Robotics Research
Approaches to inconsistency handling in description-logic based ontologies
OTM'07 Proceedings of the 2007 OTM Confederated international conference on On the move to meaningful internet systems - Volume Part II
DALT'07 Proceedings of the 5th international conference on Declarative agent languages and technologies V
Understanding permissions through graphical norms
DALT'10 Proceedings of the 8th international conference on Declarative agent languages and technologies VIII
Self-Understanding and Self-Extension: A Systems and Representational Approach
IEEE Transactions on Autonomous Mental Development
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A growing body of literature shows that endowing a mobile robot with semantic knowledge and with the ability to reason from this knowledge can greatly increase its capabilities. In this paper, we present a novel use of semantic knowledge, to encode information about how things should be, i.e. norms, and to enable the robot to infer deviations from these norms in order to generate goals to correct these deviations. For instance, if a robot has semantic knowledge that perishable items must be kept in a refrigerator, and it observes a bottle of milk on a table, this robot will generate the goal to bring that bottle into a refrigerator. The key move is to properly encode norms in an ontology so that each norm violation results in a detectable inconsistency. A goal is then generated to bring the world back in a consistent state, and a planner is used to transform this goal into actions. Our approach provides a mobile robot with a limited form of goal autonomy: the ability to derive its own goals to pursue generic aims. We illustrate our approach in a full mobile robot system that integrates a semantic map, a knowledge representation and reasoning system, a task planner, and standard perception and navigation routines.