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Title
Diagnostic Reasoning for Robotics Using Action Languages
AuthorErdem, Esra ; Patoglu, Volkan ; Saribatur, Zeynep Gözen
Published 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, 2015, page 317-331
Published2015
LanguageEnglish
SeriesLecture Notes in Computer Science ; 9345
Document typeArticle in a collected edition
Keywords (EN)Diagnostic reasoning / Action languages / Answer set programming
Project-/ReportnumberTUBITAK Grant: 111E116
Project-/ReportnumberTUBITAK Grant: 113M422
Project-/ReportnumberTUBITAK Grant: 114E491
ISBN9783319232638
URNurn:nbn:at:at-ubtuw:3-3093 Persistent Identifier (URN)
DOI10.1007/978-3-319-23264-5_27 
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 The work is publicly available
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Abstract (English)

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.

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