Presenter : Seokjun Lee Kyonggi University HRI 2018 Workshop on Social Human-Robot Interaction of Human-care Service Robots [Teaser] Automated Generation of Robot Task Plans Based on Action Ontology Presenter : Seokjun Lee Kyonggi University

Motivation Automated robot planning based on knowledge Knowledge

Approach Algorithm in three stages 1) Building action ontology 2) Model conversion (Conceptual Model -> Control Model) 3) Executable task planning Ontological Models Task Plan Models Planner Conceptual model Abstraction & Generalization Human readable Control model Plan library Writable only engineer Task planning Task re-planning Task modification Task monitoring

Cognitive Robot Abstract Machine Approach Previous Works Proposed Approach Planning Problem Domain Models Offline Planner ▪ HTN Hierarchical Task Network Ontological Models Automated Planning University of Maryland ▪ Action Recipe Robot Action&Task Knowledge Task Plan Models Online Planner CRAM Cognitive Robot Abstract Machine ▪ CPL CRAM Plan Language Ontological Models Task Plan Models Online Planner JAM Agent ▪ Extended Action Recipe ▪ JPL JAM Plan Language Intelligent Agent Framework

Thank you