1 January 1990 HAP: a hybrid system for reasoning about actions and plans in robotics
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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.
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Antonio Camurri, Antonio Camurri, Marcello Frixione, Marcello Frixione, Salvatore Gaglio, Salvatore Gaglio, Renato Zaccaria, Renato Zaccaria, } "HAP: a hybrid system for reasoning about actions and plans in robotics", Proc. SPIE 1293, Applications of Artificial Intelligence VIII, (1 January 1990); doi: 10.1117/12.21112; https://doi.org/10.1117/12.21112
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