@inproceedings{ iros11,
  urln = {iros11.pdf}
}
,
  title = {Housekeeping with Multiple Autonomous Robots: Knowledge Representation and Automated Reasoning for a Tightly Integrated Robot Control Architecture}
}
,
  ee = {http://www.iros2011.org/WorkshopsAndTutorialsProceedings/SW7/}
}
,
  booktitle = {IROS 2011 Workshop: Knowledge Representation for Autonomous Robots}
}
,
  author = {E. Aker and A. Erdogan and E. Erdem and V. Patoglu}
}
,
  year = {2011}
}
,
  abstract = {We embed knowledge representation and automated reasoning in each level of the classical 3-layer robot control architecture, in such a way as to tightly integrate these layers. At the high-level, we represent not only actions and change but also commonsense knowledge in the action description language C+. Geometric reasoning is lifted to the high-level by embedding motion planning in the domain description, using external predicates. Then a discrete plan is computed for each robot, using the causal reasoner CCALC. At the mid-level, if a continuous trajectory is not computed by a motion planner because the discrete plan is not feasible at the continuous-level, then formal queries are asked to the causal reasoner to find a different plan subject to some (temporal) conditions represented as formulas. At the low-level, if the plan execution fails, then a new continuous trajectory is computed by a motion planner at the mid-level or a new discrete plan is computed using an automated reasoner at the high-level. We apply this tightly integrated robot control architecture in a housekeeping domain with multiple autonomous robots, and illustrate this application with a simulation. }
}