A Hybrid Deliberative Layer for Robotic Agents

The Hybrid Deliberative Layer (HDL) solves the problem that an intelligent agent faces in dealing with a large amount of information which may or may not be useful in generating a plan to achieve a goal. The information, that an agent may need, is acquired and stored in the DL model. Thus, the HDL is used as the main knowledge base system for the agent. In this work, a novel approach which amalgamates Description Logic (DL) reasoning with Hierarchical Task Network (HTN) planning is introduced. An analysis of the performance of the approach has been conducted and the results show that this approach yields significantly smaller planning problem descriptions than those generated by current representations in HTN planning.

Develops algorithms and concepts in DL for automatically generating the planning problem Highlights the need for a deliberative layer in robotics and its role as a planning system of sorts A novel approach for integrating DL reasoning and HTN planning is presented

Inhalt
Introduction.-The Hybrid Deliverative Layer.-HDL Systems in the Robotics Domain.-Case Study: "Johnny Jackanapes".-HDL Systems in the AI Domain.-REsult and Evaluation.-Discussion.-Conclusions.-Generated Planning Domain.-HDL ABox Assertion.-References.-Index.