Handling abort commands for household kitchen robots

TL;DR

This paper presents a method for household kitchen robots to handle abort commands by planning action sequences for graceful cancellation, integrating PDDL with online ontologies and knowledge graphs.

Contribution

It introduces a novel approach combining planning with knowledge graphs to enable robots to gracefully cancel commands in household scenarios.

Findings

Effective handling of abort commands demonstrated in kitchen robot scenarios

Integration of PDDL with knowledge graphs enhances robot decision-making

Scenarios show improved robot responsiveness and safety

Abstract

We propose a solution for handling abort commands given to robots. The solution is exemplified with a running scenario with household kitchen robots. The robot uses planning to find sequences of actions that must be performed in order to gracefully cancel a previously received command. The Planning Domain Definition Language (PDDL) is used to write a domain to model kitchen activities and behaviours, and this domain is enriched with knowledge from online ontologies and knowledge graphs, like DBPedia. We discuss the results obtained in different scenarios.