© 2011

A Hybrid Deliberative Layer for Robotic Agents

Fusing DL Reasoning with HTN Planning in Autonomous Robots

  • Develops algorithms and concepts in DL for automatically generating the planning problem

  • Highlights the need for a deliberative layer in robotics and its role as a planning system of sorts

  • A novel approach for integrating DL reasoning and HTN planning is presented


Part of the Lecture Notes in Computer Science book series (LNCS, volume 6798)

Also part of the Lecture Notes in Artificial Intelligence book sub series (LNAI, volume 6798)

Table of contents

  1. Front Matter
  2. Ronny Hartanto
    Pages 1-12
  3. Ronny Hartanto
    Pages 13-41
  4. Ronny Hartanto
    Pages 43-77
  5. Ronny Hartanto
    Pages 79-102
  6. Ronny Hartanto
    Pages 103-121
  7. Ronny Hartanto
    Pages 123-142
  8. Ronny Hartanto
    Pages 143-149
  9. Ronny Hartanto
    Pages 151-155
  10. Back Matter

About this book


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 acquired and stored in the DL model. Thus, the HDL is used as the main knowledge base system for the agent.

In this work, a novel approach which amalgamates Description Logic (DL) reasoning with Hierarchical Task Network (HTN) planning is introduced. An analysis of the performance of the approach has been conducted and the results show that this approach yields significantly smaller planning problem descriptions than those generated by current representations in HTN planning.


autonomous robot evolutionary systems human robot interaction multi-agent systems networked robotics

Authors and affiliations

  1. 1.DFKI Robotics Innovation CenterBremenGermany

Bibliographic information

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