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Identifier |
000416633 |
Title |
Solving simulated application scenarios with the use of Commonsense Reasoning |
Alternative Title |
Επίλυση προσομοιωμένων σεναρίων εφαρμογής με την χρήση Συλλογιστικής Κοινής Λογικής |
Author
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Ζουρμπάκης, Νικόλαος Σ.
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Thesis advisor
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Πλεξουσάκης, Δημήτρης
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Reviewer
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Παπαγιαννάκης, Γεώργιος
Φλουρής, Γεώργιος
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Abstract |
In our society autonomous robots are becoming the new norm, being intergrated in a number of
fields like household maintenance,
spaceflight, delivering goods and services. This creates the
necessity of constructing robotic assistants that possess highly complex functiond and wide
variability in order to be able to perform everyday tasks in a robust manner without sacrificing
safety. As a consequence, there is a high demand to furnish these systems with a discrete high-level reasoning combined with an adequate and continuous low-level reasoning.
The purpose of our research is to create the basis of a system for training automatons
to handle and perform simple actions that can be later combined to create the necessary patterns for
handling every tasks like a normal person would. We introduce a hybrid approach, unifying high-level planning using a logic-based formalism for representing actions and effects, with low-level
geometric feasibility checks through the use of an advanced simulation framework with an
integrated physics engine. It is an experimental application created for producing a number of
viable solutions to a given plain problem, while imitating conditions found in the natural world.
Its targeted user group are researchers who wish to test the physical feasibility of scenarios,
expressed in a logical language like the event calculus, inside a real-time environment.
The application allows the user to create physically sound objects according to his preferences
inside a designated area through the use of an interactive UI. He can cluster the objects into
different formations, that he can later use to enhance the Knowledge Base of the system
(available patterns). Our approach focuses on testing three alternative types of scenarios, each
created to explore the different properties of an object and its interactions with other objects.
The user can view in real time all the available outcomes, what are the steps that each plan
consists of, and even make small alterations to get a favorable result, without the need to re-execute any high-level planning.
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Language |
English |
Subject |
Answer set programming |
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Event calculus |
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Simulation engine |
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Λογισμός συμβάντων |
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Μηχανή προσομοίωσης |
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Προγραμματισμός απαντήσεων |
Issue date |
2018-07-20 |
Collection
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School/Department--School of Sciences and Engineering--Department of Computer Science--Post-graduate theses
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Type of Work--Post-graduate theses
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Permanent Link |
https://elocus.lib.uoc.gr//dlib/8/3/4/metadata-dlib-1529647989-577844-9454.tkl
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Views |
851 |