Robust representation of actions and its sequences for complex robotic tasks would transform robot’s understand- ing to execute robotic tasks efficiently. The challenge is to under- stand action sequences for highly unstructured environments and to represent and construct action and action sequences. In this manuscript, we present a review of literature dealing with representation of action and action sequences for robot task planning and execution. The methodological review was conducted using Google Scholar and IEEE Xplore, searching the specific keywords. This manuscript gives an overview of current approaches for representing action sequences in robotics. We propose a classification of different methodologies used for action sequences representation and describe the most important aspects of the reviewed publications. This review allows the reader to understand several options that do exist in the research community, to represent and deploy such action representations in real robots.

Approaches for action sequence representation in robotics: a review

NAKAWALA, Hirenkumar Chandrakant
;
Fiorini, Paolo;DE MOMI, Elena
2018-01-01

Abstract

Robust representation of actions and its sequences for complex robotic tasks would transform robot’s understand- ing to execute robotic tasks efficiently. The challenge is to under- stand action sequences for highly unstructured environments and to represent and construct action and action sequences. In this manuscript, we present a review of literature dealing with representation of action and action sequences for robot task planning and execution. The methodological review was conducted using Google Scholar and IEEE Xplore, searching the specific keywords. This manuscript gives an overview of current approaches for representing action sequences in robotics. We propose a classification of different methodologies used for action sequences representation and describe the most important aspects of the reviewed publications. This review allows the reader to understand several options that do exist in the research community, to represent and deploy such action representations in real robots.
action sequence representation, robotics, ontology
File in questo prodotto:
File Dimensione Formato  
IROS18_2239_FI.pdf

accesso aperto

Tipologia: Documento in Pre-print
Licenza: Accesso ristretto
Dimensione 168.96 kB
Formato Adobe PDF
168.96 kB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11562/989648
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 3
  • ???jsp.display-item.citation.isi??? ND
social impact