A Hybrid Deliberative Layer for Robotic Agents Fusing DL Reasoning w
The Hybrid Deliberative Layer (HDL) solves the problem that an intelligent agent faces in dealing with a large amount of information which may or may not be useful in generating a plan to achieve a goal. The information, that an agent may need, is acquire
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Subseries of Lecture Notes in Computer Science
6798
Ronny Hartanto
A Hybrid Deliberative Layer for Robotic Agents Fusing DL Reasoning with HTN Planning in Autonomous Robots
13
Series Editors Randy Goebel, University of Alberta, Edmonton, Canada Jörg Siekmann, University of Saarland, Saarbrücken, Germany Wolfgang Wahlster, DFKI and University of Saarland, Saarbrücken, Germany Author Ronny Hartanto DFKI Robotics Innovation Center 28359 Bremen, Germany E-mail: [email protected], [email protected]
This work was carried out at: Bonn-Rhein-Sieg University of Applied Sciences (BRSU) Bonn-Aachen International Center for Information Technology (b-it) St. Augustin, Germany and accepted as PhD thesis at the University of Osnabrück, Germany.
ISSN 0302-9743 e-ISSN 1611-3349 ISBN 978-3-642-22579-6 e-ISBN 978-3-642-22580-2 DOI 10.1007/978-3-642-22580-2 Springer Heidelberg Dordrecht London New York Library of Congress Control Number: 2011931781 CR Subject Classification (1998): I.2.9-11, I.2, I.6, H.3, F.1, D.2, C.2, H.4-5 LNCS Sublibrary: SL 7 – Artificial Intelligence
© Springer-Verlag Berlin Heidelberg 2011 This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typesetting: Camera-ready by author, data conversion by Scientific Publishing Services, Chennai, India Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
Ronny Hartanto
A Hybrid Deliberative Layer for Robotic Agents Bandnummer: 6798
Fusing DL Reasoning with HTN Planning in Autonomous Robots June 16, 2011
Springer
To Meidjie and my parents
Foreword
Cognitive robots are all over the place. Well, at least that is what it looks like in research lab agendas on the planet. Some basic and fundamental problems in controlling mobile robots have been quite well understood in recent years: Localization and map building are chief examples. Now, as autonomous mobility as such is much less of a challenge, research resumes an activity that has started about half a century ago in mainstream AI; that got out of the AI mainstream for a while, as other challenges turned out to offer solutions faster; that got a little mocked for some time (“good old-fashioned AI”, gofai); yet that has remained a fascinating scientific problem, and
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