Know Rob 2.0 — A 2nd Generation Knowledge Processing Framework for Cognition-Enabled Robotic Agents
Michael Beetz, Daniel Beßler, Andrei Haidu, Mihai Pomarlan, Asil Kaan Bozcuoğlu, Georg Bartels
Abstract
In this paper we present KnowRob2, a second generation knowledge representation and reasoning framework for robotic agents. KnowRob2 is an extension and partial redesign of KnowRob, currently one of the most advanced knowledge processing systems for robots that has enabled them to successfully perform complex manipulation tasks such as making pizza, conducting chemical experiments, and setting tables. The knowledge base appears to be a conventional first-order time interval logic knowledge base, but it exists to a large part only virtually: many logical expressions are constructed on demand from data structures of the control program, computed through robotics algorithms including ones for motion planning and solving inverse kinematics problems, and log data stored in noSQL databases. Novel features and extensions of KnowRob2 substantially increase the capabilities of robotic agents of acquiring open-ended manipulation skills and competence, reasoning about how to perform manipulation actions more realistically, and acquiring commonsense knowledge.
BibTeX
@inproceedings{icra2018_knowrob20a2ndgen,
title = {Know Rob 2.0 — A 2nd Generation Knowledge Processing Framework for Cognition-Enabled Robotic Agents},
author = {Michael Beetz and Daniel Beßler and Andrei Haidu and Mihai Pomarlan and Asil Kaan Bozcuoğlu and Georg Bartels},
booktitle = {ICRA 2018},
year = {2018}
}