Handling abort commands for household kitchen robots
This addresses a specific safety and usability issue for household robots, but it appears incremental as it builds on existing planning methods.
The paper tackles the problem of enabling household kitchen robots to gracefully cancel commands by using planning with PDDL and enriching it with online ontologies like DBPedia, but no concrete results or numbers are provided in the abstract.
We propose a solution for handling abort commands given to robots. The solution is exemplified with a running scenario with household kitchen robots. The robot uses planning to find sequences of actions that must be performed in order to gracefully cancel a previously received command. The Planning Domain Definition Language (PDDL) is used to write a domain to model kitchen activities and behaviours, and this domain is enriched with knowledge from online ontologies and knowledge graphs, like DBPedia. We discuss the results obtained in different scenarios.