1. 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

2. Motivation
Automated robot planning based on knowledge
Knowledge

3. 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

4. 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

5. Thank you