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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 Ζουρμπάκης, Νικόλαος Σ.
Thesis advisor Πλεξουσάκης, Δημήτρης
Reviewer Παπαγιαννάκης, Γεώργιος
Φλουρής, Γεώργιος
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.
Language English
Subject Answer set programming
Event calculus
Simulation engine
Λογισμός συμβάντων
Μηχανή προσομοίωσης
Προγραμματισμός απαντήσεων
Issue date 2018-07-20
Collection   Faculty/Department--Faculty of Sciences and Engineering--Department of Computer Science--Post-graduate theses
  Type of Work--Post-graduate theses
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