0000000000427086

AUTHOR

Antonio Camurri

<title>HAP: a hybrid system for reasoning about actions and plans in robotics</title>

The paper describes the main ideas and principles of HAP (Hybrid representation of Actions and Plans), a system for hybrid representation and reasoning in advanced robotics. In this context, hybrid representation refers to the integration of both symbolic and analogic knowledge representation paradigms. In particular, the logic/symbolic component is based on a KL-ONE-like representation language. The system embeds "analogic experts", that are concurrent procedures operating in a direct and fast way on the world representation. These "experts" help the system in planning a correct temporal sequence of actions. As a reference scenario, assembly (and disassembly) problems are considered. The a…

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A hybrid scheme for action representation

Strong deficiencies are present in symbolic models for action representation and planning, regarding mainly the difficulty of coping with real, complex environments. These deficiencies can be attributed to several problems, such as the inadequacy in coping with incompletely structured situations, the difficulty of interacting with visual and motorial aspects, the difficulty in representing low-level knowledge, the need to specify the problem at a high level of detail, and so on. Besides the purely symbolic approaches, several nonsymbolic models have been developed, such as the recent class of subsym-bolic techniques. A promising paradigm for the modeling of reasoning, which combines feature…

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