Ontological component-based description of robot capabilities - LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes Accéder directement au contenu
Communication Dans Un Congrès Année : 2023

Ontological component-based description of robot capabilities

Résumé

A key aspect of a robot’s knowledge base is self-awareness about what it is capable of doing. It allows to define which tasks it can be assigned to and which it cannot. We will refer to this knowledge as the Capability concept. As capabilities stems from the components the robot owns, they can be linked together. In this work, we hypothesize that this concept can be inferred from the components rather than merely linked to them. Therefore, we introduce an ontological means of inferring the agent’s capabilities based on the components it owns as well as low-level capabilities. This inference allows the agent to acknowledge what it is able to do in a responsive way and it is generalizable to external entities the agent can carry for example. To initiate an action, the robot needs to link its capabilities with external entities. To do so, it needs to infer affordance relations from its capabilities as well as the external entity’s dispositions. This work is part of a broader effort to integrate social affordances into a Human-Robot collaboration context and is an extension of an already existing ontology.
Fichier principal
Vignette du fichier
worsa_paper.pdf (200.51 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04125276 , version 1 (12-06-2023)

Identifiants

  • HAL Id : hal-04125276 , version 1

Citer

Bastien Dussard, Guillaume Sarthou, Aurélie Clodic. Ontological component-based description of robot capabilities. International Workshop on Working towards Ontology-based Standards for Robotics and Automation (WOSRA 2023 - 2nd Edition), Jun 2023, Londres, United Kingdom. ⟨hal-04125276⟩
26 Consultations
21 Téléchargements

Partager

Gmail Facebook X LinkedIn More