Automated Planning with Induced Qualitative Models in Dynamic Robotic Domains

Authors

  • Domen Šoberl University of Ljubljana Faculty of Computer and Information Science

DOI:

https://doi.org/10.31449/inf.v45i3.3759

Abstract

Various methods of learning qualitative models by autonomous robots have previously been proposed as a viable alternative to traditional numerical modeling, but an efficient way of using such models for planning still remained an open problem. This paper summarizes a doctorat thesis, which proposes a novel domain-independent qualitative approach to automated planning and execution of robotic plans. The proposed method is demonstrated in five different robotic domains. Različne metode učenja kvalitativnih modelov v avtonomni robotiki so bile v preteklosti predlagane kot možna alternativa tradicionalnemu numeričnemu modeliranju, toda učinkovit način uporabe takšnih modelov za planiranje je še vedno ostal odprt problem. Ta članek povzema doktorska disertacijo, ki predlaga nov, domensko neodvisen kvalitativen pristop k avtomatiziranemu planiranju in izvedbi robotskih planov. Disertacija predlagano metodo demonstrira v petih različnih robotskih domenah.

References

Wiley T., Sammut C., Bratko I. (2016) A Planning and Learning Hierarchy using Qualitative Reasoning for the On-Line Acquisition of Robotic Behaviors, Advances in Cognitive Systems 4, pp. 93--112.

Šoberl, D. (2021) Automated planning with induced qualitative models in dynamic robotic domains, PhD thesis, University of Ljubljana. https://repozitorij.uni-lj.si/IzpisGradiva.php?id=126285

Kuipers B. (1986) Qualitative simulation, Artificial Intelligence 29(3), pp. 289--338, DOI: 10.1016/0004-3702(86)90073-1

Šoberl D., Bratko I. (2017) Reactive Motion Planning with Qualitative Constraints, Advances in Artificial Intelligence: From Theory to Practice. IEA/AIE 2017. Lecture Notes in Computer Science, vol 10350, Springer, Cham, pp. 41--50. DOI: 10.1007/978-3-319-60042-0_5

Šoberl D., Žabkar J., Bratko I. (2015) Qualitative Planning of Object Pushing by a Robot, Foundations of Intelligent Systems. ISMIS 2015. Lecture Notes in Computer Science, vol 9384, Springer, Cham, pp. 410--419. DOI: 10.1007/978-3-319-25252-0_44

Šoberl D., Žabkar J., Bratko I. (2020) Learning to Control a Quadcopter Qualitatively, Journal of Intelligent & Robotic Systems 100(3), pp. 1097--1110. DOI: 10.1007/s10846-020-01228-7

Šoberl D., Bratko I. (2019) Learning Explainable Control Strategies Demonstrated on the Pole-and-Cart System, Advances and Trends in Artificial Intelligence. From Theory to Practice. IEA/AIE 2019. Lecture Notes in Computer Science, vol 11606, Springer, Cham, pp. 483--494. DOI: 10.1007/978-3-030-22999-3_42

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Published

2021-09-15

How to Cite

Šoberl, D. (2021). Automated Planning with Induced Qualitative Models in Dynamic Robotic Domains. Informatica, 45(3). https://doi.org/10.31449/inf.v45i3.3759

Issue

Vol. 45 No. 3 (2021)

Section

Thesis summary

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