Ontology based autonomous robot task processing framework

doi:10.3389/fnbot.2024.1401075

	Ontology based autonomous robot task processing framework
	Ge, Yueguang 2,3; Zhang, Shaolin 3; Cai, Yinghao 3; Lu, Tao 3; Wang, Haitao 2,3; Hui, Xiaolong 3; Wang, Shuo 1,3
刊名	FRONTIERS IN NEUROROBOTICS
	2024-05-07
卷号	18 页码:16
关键词	service robot knowledge-enabled robot ontology knowledge representation task planning
ISSN号	1662-5218
DOI	10.3389/fnbot.2024.1401075
通讯作者	Cai, Yinghao(yinghao.cai@ia.ac.cn) ; Wang, Shuo(shuo.wang@ia.ac.cn)
英文摘要	Introduction In recent years, the perceptual capabilities of robots have been significantly enhanced. However, the task execution of the robots still lacks adaptive capabilities in unstructured and dynamic environments.Methods In this paper, we propose an ontology based autonomous robot task processing framework (ARTProF), to improve the robot's adaptability within unstructured and dynamic environments. ARTProF unifies ontological knowledge representation, reasoning, and autonomous task planning and execution into a single framework. The interface between the knowledge base and neural network-based object detection is first introduced in ARTProF to improve the robot's perception capabilities. A knowledge-driven manipulation operator based on Robot Operating System (ROS) is then designed to facilitate the interaction between the knowledge base and the robot's primitive actions. Additionally, an operation similarity model is proposed to endow the robot with the ability to generalize to novel objects. Finally, a dynamic task planning algorithm, leveraging ontological knowledge, equips the robot with adaptability to execute tasks in unstructured and dynamic environments.Results Experimental results on real-world scenarios and simulations demonstrate the effectiveness and efficiency of the proposed ARTProF framework.Discussion In future work, we will focus on refining the ARTProF framework by integrating neurosymbolic inference.
资助项目	National Natural Science Foundation of China[U23B2038] ; National Natural Science Foundation of China[62273342]
WOS关键词	KNOWLEDGE MANAGEMENT ; SERVICE ; KNOWROB
WOS研究方向	Computer Science ; Robotics ; Neurosciences & Neurology
语种	英语
出版者	FRONTIERS MEDIA SA
WOS记录号	WOS:001227545200001
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/58421]
专题	智能机器人系统研究
通讯作者	Cai, Yinghao; Wang, Shuo
作者单位	1.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Ge, Yueguang,Zhang, Shaolin,Cai, Yinghao,et al. Ontology based autonomous robot task processing framework[J]. FRONTIERS IN NEUROROBOTICS,2024,18:16.
APA	Ge, Yueguang.,Zhang, Shaolin.,Cai, Yinghao.,Lu, Tao.,Wang, Haitao.,...&Wang, Shuo.(2024).Ontology based autonomous robot task processing framework.FRONTIERS IN NEUROROBOTICS,18,16.
MLA	Ge, Yueguang,et al."Ontology based autonomous robot task processing framework".FRONTIERS IN NEUROROBOTICS 18(2024):16.