A Hybrid Deliberative Layer for Robotic Agents: Fusing DL by Ronny Hartanto PDF

By Ronny Hartanto

ISBN-10: 3642225799

ISBN-13: 9783642225796

The Hybrid Deliberative Layer (HDL) solves the matter that an clever agent faces in facing a large number of info that may or will not be invaluable in producing a plan to accomplish a aim. the knowledge, that an agent may have, is received and kept within the DL version. hence, the HDL is used because the major wisdom base procedure for the agent.

In this paintings, a unique process which amalgamates Description common sense (DL) reasoning with Hierarchical job community (HTN) making plans is brought. An research of the functionality of the strategy has been performed and the consequences exhibit that this procedure yields considerably smaller making plans challenge descriptions than these generated via present representations in HTN planning.

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Ronny Hartanto's A Hybrid Deliberative Layer for Robotic Agents: Fusing DL PDF

The Hybrid Deliberative Layer (HDL) solves the matter that an clever agent faces in facing a large number of details that could or is probably not worthwhile in producing a plan to accomplish a aim. the data, that an agent might have, is got and saved within the DL version. hence, the HDL is used because the major wisdom base procedure for the agent.

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Extra info for A Hybrid Deliberative Layer for Robotic Agents: Fusing DL Reasoning with HTN Planning in Autonomous Robots

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1 A Brief Overview of Robot Control Architectures The oldest approach which has been used to compose robot systems is the Hierarchical Paradigm, often referred to as the SENSE, PLAN, ACT (spa) approach. The Hierarchical Paradigm is sequential and orderly. The sensors first 14 2 The Hybrid Deliberative Layer sense the environment then this data is processed and used to plan the next action. Finally, the action is performed using the actuators [44, Chapter 2]. Two architectures were based on the Hierarchical Paradigm: the Nested Hierarchical Controller (nhc) and the NIST Realtime Control System (rcs) [44, Chapter 2].

They mapped these representations into logic, such that they could benefit from the inferential power of logic. Originally, Marvin Minsky (1975) described a frame as “a network of nodes and relations”. Knowledge Language One (kl–one), which describes a network notation in its representation, was designed by Ronald Brachman (1979). kl–one uses definitional logic or terminological logics as its inference engine [58]. Although there are still more knowledge representation formalisms that have been introduced, their description is beyond the topic of this work.

The Frame formalism is one approach that is used to represent knowledge with their structure in frames. The knowledge is captured by grouping objects into more generic ones (generic frames) and the object itself as an individual frame [56, Chapter 8]. The frame formalism is capable of representing knowledge in a hierarchy and has some inheritance which is slightly similar to that of Object-Oriented Programming (oop). The scientists worked on both the formalism and the reasoning issues. They mapped these representations into logic, such that they could benefit from the inferential power of logic.

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A Hybrid Deliberative Layer for Robotic Agents: Fusing DL Reasoning with HTN Planning in Autonomous Robots by Ronny Hartanto


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