سال انتشار:
2019
عنوان انگلیسی مقاله:
Semantic reasoning in service robots using expert systems
ترجمه فارسی عنوان مقاله:
استدلال معنایی در روبات های کارگر با استفاده از سیستم های خبره
منبع:
Sciencedirect - Elsevier - Robotics and Autonomous Systems, 114 (2019) 77-92: doi:10:1016/j:robot:2019:01:007
نویسنده:
Jesus Savage a,∗, David A. Rosenblueth b, Mauricio Matamoros c, Marco Negrete a, Luis Contreras d, Julio Cruz a, Reynaldo Martell a, Hugo Estrada a, Hiroyuki Okada
چکیده انگلیسی:
This paper presents the semantic-reasoning module of VIRBOT, our proposed architecture for service
robots. We show that by combining symbolic AI with digital-signal processing techniques this module
achieves competitive performance. Our system translates a voice command into an unambiguous representation
that helps an inference engine, built around an expert system, to perform action and motion
planning. First, in the natural-language interpretation process, the system generates two outputs: (1)
conceptual dependence, expressing the linguistic meaning of the statement, and (2) verbal confirmation,
a paraphrase in natural language that is repeated to the user to confirm that the command has been
correctly understood. Then, a conceptual-dependency interpreter extracts semantic role structures from
the input sentence and looks for such structures in a set of known interpretation patterns. We evaluate
this approach in a series of skill-specific semantic-reasoning experiments. Finally, we demonstrate our
system in the general-purpose service robot test of the RoboCup-at-Home international competition,
where incomplete information is given to a robot and the robot must recognize and request the missing
information, and we compare our results with a series of baselines from the competition where our
proposal performed best.
Keywords: Service robots | Semantic reasoning | Knowledge representation
قیمت: رایگان
توضیحات اضافی:
تعداد نظرات : 0