On planning in a knowledge-hypergraph.
Joris Sijs, Willeke van Vught, J.M. Voogd · TNO Repository · 2020
Autonomous robots that operate in indoor, uncertain environments move around from one location to the next to fulfill a set of ordered task. To do so, they need a floor plan of the building to plan their route. In case the building is unfamiliar to a robot it can employ online mapping techniques, though these techniques are resource intensive and time consuming. In addition, processing such geometric maps in an automated planner to determine a feasible route is resource demanding as well. The solution proposed in this article is an ontology that combines knowledge of floor plans and actual information of a building with concepts in automated planning, so that robots become more efficient in route planning. Moreover, the ontology is implemented as a hypergraph to benefit from its advances in creating elegant inference-rules, e.g., to infer route-alternatives while preparing the operation.