Cognition-Enabled Autonomous Robot Control for the Realization of Home Chore Task Intelligence
Cognition-Enabled Autonomous Robot Control for the Realization of Home Chore Task Intelligence
复制标题
支持认知的自主机器人控制，实现家务任务智能
DOI：
--
复制
发表时间：
2012
影响因子：
20.6
通讯作者：
Dejan Pangercic
中科院分区：
文献类型：
--
作者：
M. Beetz;Dominik Jain;Lorenz Mösenlechner;Moritz Tenorth;Lars Kunze;Nico Blodow;Dejan Pangercic
本文概述了认知使能机器人控制，控制自主服务机器人实现家庭家务任务智能的计算模型。对于任务智能的实现，这个计算模型提出了三个核心原则，这基本上涉及到反应性的行为规范表示为语义可解释的计划与推理机制，使灵活的决策相结合。将行为规范表示为计划使机器人不仅能够执行行为规范，而且还能够在执行过程中对它们进行推理和修改。我们提供了一个完整的系统的认知使能机器人控制，实现了三个核心原则的描述，证明了我们的方法的可行性。
This article gives an overview of cognition-enabled robot control, a computational model for controlling autonomous service robots to achieve home chore task intelligence. For the realization of task intelligence, this computational model puts forth three core principles, which essentially involve the combination of reactive behavior specifications represented as semantically interpretable plans with inference mechanisms that enable flexible decision making. The representation of behavior specifications as plans enables the robot to not only execute the behavior specifications but also to reason about them and alter them during execution. We provide a description of a complete system for cognition-enabled robot control that implements the three core principles, demonstrating the feasibility of our approach.