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Proceedings Paper

HAP: a hybrid system for reasoning about actions and plans in robotics
Author(s): Antonio Camurri; Marcello Frixione; Salvatore Gaglio; Renato Zaccaria
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Paper Abstract

The paper describes the main ideas and principles of HAP (Hybrid representation of Actions and Plans), a system for hybrid representation and reasoning in advanced robotics. In this context, hybrid representation refers to the integration of both symbolic and analogic knowledge representation paradigms. In particular, the logic/symbolic component is based on a KL-ONE-like representation language. The system embeds "analogic experts", that are concurrent procedures operating in a direct and fast way on the world representation. These "experts" help the system in planning a correct temporal sequence of actions. As a reference scenario, assembly (and disassembly) problems are considered. The assembly problem can be decomposed in several suitable concurrent sub-tasks, which involves both robotic aspects as navigation, obstacle avoidance, grasping, and AI aspects as action planning and world representation. As a case study, the paper discusses the assembly of a complex object from parts as an experimental paradigm for planning movements of a redundant robot in an unstructured environment.

Paper Details

Date Published: 1 January 1990
PDF: 13 pages
Proc. SPIE 1293, Applications of Artificial Intelligence VIII, (1 January 1990); doi: 10.1117/12.21112
Show Author Affiliations
Antonio Camurri, Univ. of Genoa (Italy)
Marcello Frixione, Univ. of Genoa (Italy)
Salvatore Gaglio, Univ. of Palermo (Italy)
Renato Zaccaria, Univ. of Genoa (Italy)


Published in SPIE Proceedings Vol. 1293:
Applications of Artificial Intelligence VIII
Mohan M. Trivedi, Editor(s)

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