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Assembly Planning in Cluttered Environments Through Heterogeneous Reasoning

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KI 2018: Advances in Artificial Intelligence (KI 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11117))

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Abstract

Assembly recipes can elegantly be represented in description logic theories. With such a recipe, the robot can figure out the next assembly step through logical inference. However, before performing an action, the robot needs to ensure various spatial constraints are met, such as that the parts to be put together are reachable, non occluded, etc. Such inferences are very complicated to support in logic theories, but specialized algorithms exist that efficiently compute qualitative spatial relations such as whether an object is reachable. In this work, we combine a logic-based planner for assembly tasks with geometric reasoning capabilities to enable robots to perform their tasks under spatial constraints. The geometric reasoner is integrated into the logic-based reasoning through decision procedures attached to symbols in the ontology.

M. Beetz—This work was partially funded by Deutsche Forschungsgemeinschaft (DFG) through the Collaborative Research Center 1320, EASE, and by the Spanish Government through the project DPI2016-80077-R. Aliakbar Akbari is supported by the Spanish Government through the grant FPI 2015.

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Notes

  1. 1.

    http://knowrob.org.

  2. 2.

    https://sir.upc.edu/projects/kautham/.

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Authors and Affiliations

  1. Universität Bremen, Bremen, Germany

    Daniel Beßler, Mihai Pomarlan, John Bateman & Michael Beetz

  2. Universitat Politècnica de Catalunya, Barcelona, Spain

    Aliakbar Akbari,  Muhayyuddin, Mohammed Diab & Jan Rosell

Authors
  1. Daniel Beßler
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  2. Mihai Pomarlan
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  3. Aliakbar Akbari
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  4. Muhayyuddin
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  5. Mohammed Diab
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  6. Jan Rosell
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  7. John Bateman
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  8. Michael Beetz
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Corresponding author

Correspondence to Daniel Beßler .

Editor information

Editors and Affiliations

  1. TU Berlin, Berlin, Germany

    Frank Trollmann

  2. TU Dresden, Dresden, Germany

    Anni-Yasmin Turhan

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Beßler, D. et al. (2018). Assembly Planning in Cluttered Environments Through Heterogeneous Reasoning. In: Trollmann, F., Turhan, AY. (eds) KI 2018: Advances in Artificial Intelligence. KI 2018. Lecture Notes in Computer Science(), vol 11117. Springer, Cham. https://doi.org/10.1007/978-3-030-00111-7_18

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  • DOI: https://doi.org/10.1007/978-3-030-00111-7_18

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-00110-0

  • Online ISBN: 978-3-030-00111-7

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