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Diagnostic Reasoning for Robotics Using Action Languages

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Logic Programming and Nonmonotonic Reasoning (LPNMR 2015)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9345))

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Abstract

We introduce a novel diagnostic reasoning method for robotic systems with multiple robots, to find the causes of observed discrepancies relevant for plan execution. Our method proposes (i) a systematic modification of the robotic action domain description by utilizing defaults, and (ii) algorithms to compute a smallest set of diagnoses (e.g., broken robots) by means of hypothetical reasoning over the modified formalism. The proposed method is applied over various robotic scenarios in cognitive factories.

Z.G. Saribatur’s work was carried out during her graduate studies at Sabancı University.

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Acknowledgements

Thanks to anonymous reviewers for useful comments. This work is partially supported by TUBITAK Grants 111E116, 113M422 and 114E491 (ChistEra COACHES).

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Authors and Affiliations

  1. Sabanci University, Istanbul, Turkey

    Esra Erdem & Volkan Patoglu

  2. Vienna University of Technology, Vienna, Austria

    Zeynep Gozen Saribatur

Authors
  1. Esra Erdem
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  2. Volkan Patoglu
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  3. Zeynep Gozen Saribatur
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Corresponding author

Correspondence to Esra Erdem .

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Editors and Affiliations

  1. University of Calabria, Rende, Italy

    Francesco Calimeri

  2. University of Calabria, Rende, Italy

    Giovambattista Ianni

  3. University of Kentucky Dept. Computer Science, Lexington, Kentucky, USA

    Miroslaw Truszczynski

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Erdem, E., Patoglu, V., Saribatur, Z.G. (2015). Diagnostic Reasoning for Robotics Using Action Languages. In: Calimeri, F., Ianni, G., Truszczynski, M. (eds) Logic Programming and Nonmonotonic Reasoning. LPNMR 2015. Lecture Notes in Computer Science(), vol 9345. Springer, Cham. https://doi.org/10.1007/978-3-319-23264-5_27

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  • DOI: https://doi.org/10.1007/978-3-319-23264-5_27

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23263-8

  • Online ISBN: 978-3-319-23264-5

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