Erdem, E., Patoglu, V., & Saribatur, Z. G. (2015). Diagnostic Reasoning for Robotics Using Action Languages. In Logic Programming and Nonmonotonic Reasoning. 13th International Conference, LPNMR 2015, Lexington, KY, USA, September 27-30, 2015. Proceedings ; Calimeri, Francesco; Ianni, Giovambattista; Truszczynski, Miroslaw. Switzerland. https://doi.org/10.1007/978-3-319-23264-5_27
Diagnostic reasoning; Action languages; Answer set programming
We introduce a novel diagnostic reasoning method for robotic systems with multiple robots, to find the causes of observed discrepancies relevant for plan execution. Our method proposes (i) a systematic modification of the robotic action domain description by utilizing defaults, and (ii) algorithms to compute a smallest set of diagnoses (e.g., broken robots) by means of hypothetical reasoning over the modified formalism. The proposed method is applied over various robotic scenarios in cognitive factories.
The final publication is available via <a href="https://doi.org/10.1007/978-3-319-23264-5_27" target="_blank">https://doi.org/10.1007/978-3-319-23264-5_27</a>.