68cc0bb6b67801a4c9462412b6bcfbbd pmc_30866544.pdf d8871edec912c4456d0cb2e6e80eecc6c09a912b pmc_30866544.pdf 52805d596df70e3aca16a2d339473e130c538dd51d4379f4d890626fb3e274ce pmc_30866544.pdf Title: PMK—A Knowledge Processing Framework for Autonomous Robotics Perception and Manipulation Subject: Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial information and a rich semantic knowledge about objects, types, and functionality are required, together with the way in which these objects can be manipulated. In this line, this paper presents an ontological-based reasoning framework called Perception and Manipulation Knowledge (PMK) that includes: (1) the modeling of the environment in a standardized way to provide common vocabularies for information exchange in human-robot or robot-robot collaboration, (2) a sensory module to perceive the objects in the environment and assert the ontological knowledge, (3) an evaluation-based analysis of the situation of the objects in the environment, in order to enhance the planning of manipulation tasks. The paper describes the concepts and the implementation of PMK, and presents an example demonstrating the range of information the framework can provide for autonomous robots. Keywords: perception knowledge; knowledge-based reasoning; task-motion planning Author: Mohammed Diab, Aliakbar Akbari, Muhayyuddin and Jan Rosell Creator: LaTeX with hyperref package Producer: pdfTeX-1.40.18 CreationDate: Thu Mar 7 12:28:47 2019 CET ModDate: Thu Mar 7 12:28:47 2019 CET Tagged: no UserProperties: no Suspects: no Form: none JavaScript: no Pages: 23 Encrypted: no Page size: 595.276 x 841.89 pts (A4) Page rot: 0 File size: 11585395 bytes Optimized: no PDF version: 1.5 name type encoding emb sub uni object ID ------------------------------------ ----------------- ---------------- --- --- --- --------- ULCFPB+URWPalladioL-Ital Type 1 Custom yes yes no 157 0 RKZCIJ+URWPalladioL-Bold Type 1 Custom yes yes no 158 0 OMGDXR+URWPalladioL-Roma Type 1 Custom yes yes no 159 0 RVSEMT+TimesNewRomanPS-BoldItalicMT Type 1C WinAnsi yes yes no 164 0 MCBCCI+SourceSansRoman-Regular Type 1C Custom yes yes no 181 0 MCBCCM+SourceSansRoman.613wght Type 1C Custom yes yes no 182 0 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げづぬちぴづつぜ〴ぜ〰しはひに Children: Item: Title: ごとづぜ〴ぜ〰さびづぜ〴ぜ〰はてぜ〴ぜ〰かのはぷぬづつでづぜ〴ぜ〰どのぜ〴ぜ〰いどててづひづのぴぜ〴ぜ〰いはねちどのび Item: Title: こぴちのつちひつどぺちぴどはのぜ〴ぜ〰ぅててはひぴび Item: Title: ごちびにぜ〴ぜ〰ちのつぜ〴ぜ〰きはぴどはのぜ〴ぜ〰ぐぬちののどのでぜ〴ぜ〰ぉのてづひづのっづぜ〴ぜ〰げづぱふどひづねづのぴび Item: Title: こべびぴづねぜ〴ぜ〰うはひねふぬちぴどはの Children: Item: Title: こべびぴづねぜ〴ぜ〰くぶづひぶどづぷ Item: Title: ぐきかぜ〴ぜ〰かのはぷぬづつでづぜ〴ぜ〰こぴひふっぴふひづ Item: Title: ぐきかぜ〴ぜ〰げづちびはのどのでぜ〴ぜ〰きづっとちのどびね Item: Title: しとべぜ〴ぜ〰ぐきか〿 Item: Title: かのはぷぬづつでづぜ〴ぜ〰うはひねふぬちぴどはの Children: Item: Title: きちのどばふぬちぴどはのぜ〴ぜ〰いちぴちぜ〴ぜ〰かのはぷぬづつでづ Item: Title: きちのどばふぬちぴどはのぜ〴ぜ〰しはひぬつぜ〴ぜ〰かのはぷぬづつでづ Item: Title: きちのどばふぬちぴどはのぜ〴ぜ〰ぐぬちののどのでぜ〴ぜ〰かのはぷぬづつでづ Item: Title: かのはぷぬづつでづぜ〴ぜ〰げづばひづびづのぴちぴどはのぜ〴ぜ〰てはひぜ〴ぜ〰ぐづひっづばぴどはの Item: Title: ぃちびづぜ〴ぜ〰こぴふつべ Children: Item: Title: ごちびにぜ〴ぜ〰いづびっひどばぴどはの Item: Title: ぉねばぬづねづのぴちぴどはの Item: Title: ぐきかぜ〴ぜ〰くのぴはぬはでべぜ〴ぜ〰げづばひづびづのぴちぴどはの Item: Title: げづちびはのどのでぜ〴ぜ〰ぐひはっづびびぜ〴ぜ〰はのぜ〴ぜ〰ぐづひっづばぴどはの Item: Title: げづちびはのどのでぜ〴ぜ〰ぐひはっづびびぜ〴ぜ〰はのぜ〴ぜ〰こどぴふちぴどはの Item: Title: げづちびはのどのでぜ〴ぜ〰ぐひはっづびびぜ〴ぜ〰はのぜ〴ぜ〰いどびっひづぴづぜ〴ぜ〰ぁっぴどはのび Item: Title: げづちびはのどのでぜ〴ぜ〰ぐひはっづびびぜ〴ぜ〰はのぜ〴ぜ〰きはぴどはのび Item: Title: ぅへぴづのつづつぜ〴ぜ〰こばちぴどちぬぜ〴ぜ〰げづちびはのどので Item: Title: ごちびにぜ〴ぜ〰ぐぬちののどのでぜ〴ぜ〰ちのつぜ〴ぜ〰ぅへづっふぴどはのぜ〴ぜ〰ふびどのでぜ〴ぜ〰ぐきか Item: Title: こべびぴづねぜ〴ぜ〰うぬづへどぢどぬどぴべ Item: Title: いどびっふびびどはの Children: Item: Title: いどびっふびびどはのぜ〴ぜ〰ちぢはふぴぜ〴ぜ〰ぴとづぜ〴ぜ〰げづびふぬぴび Item: Title: いどびっふびびどはのぜ〴ぜ〰ちぢはふぴぜ〴ぜ〰ぴとづぜ〴ぜ〰こべびぴづね Item: Title: ぃはのっぬふびどはのびぜ〴ぜ〰ちのつぜ〴ぜ〰うふぴふひづぜ〴ぜ〰しはひに Item: Title: ざはっちぢふぬちひべぜ〴ぜ〰はてぜ〴ぜ〰ぐきかぜ〴ぜ〰ぬづぶづぬび Item: Title: げづてづひづのっづび Filters: FilterPipeline: FlateDecode Images: Image: NisoImageMetadata: FormatName: image/png ImageWidth: 1251 ImageHeight: 909 ColorSpace: RGB BitsPerSample: 8 BitsPerSampleUnit: integer Filter: FlateDecode Image: NisoImageMetadata: FormatName: image/png ImageWidth: 712 ImageHeight: 444 ColorSpace: RGB BitsPerSample: 8 BitsPerSampleUnit: integer Filter: FlateDecode Image: NisoImageMetadata: FormatName: image/png ImageWidth: 1800 ImageHeight: 1110 ColorSpace: RGB BitsPerSample: 8 BitsPerSampleUnit: integer Filter: FlateDecode Image: NisoImageMetadata: 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