Ontological Component-based Description of Robot Capabilities Article Swipe
Bastien Dussard
,
Guillaume Sarthou
,
Aurélie Clodic
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2306.07569
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2306.07569
A key aspect of a robot's knowledge base is self-awareness about what it is capable of doing. It allows to define which tasks it can be assigned to and which it cannot. We will refer to this knowledge as the Capability concept. As capabilities stems from the components the robot owns, they can be linked together. In this work, we hypothesize that this concept can be inferred from the components rather than merely linked to them. Therefore, we introduce an ontological means of inferring the agent's capabilities based on the components it owns as well as low-level capabilities. This inference allows the agent to acknowledge what it is able to do in a responsive way and it is generalizable to external entities the agent can carry for example. To initiate an action, the robot needs to link its capabilities with external entities. To do so, it needs to infer affordance relations from its capabilities as well as the external entity's dispositions. This work is part of a broader effort to integrate social affordances into a Human-Robot collaboration context and is an extension of an already existing ontology.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2306.07569
- https://arxiv.org/pdf/2306.07569
- OA Status
- green
- Cited By
- 1
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4380574768
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4380574768Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2306.07569Digital Object Identifier
- Title
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Ontological Component-based Description of Robot CapabilitiesWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
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2023-06-13Full publication date if available
- Authors
-
Bastien Dussard, Guillaume Sarthou, Aurélie ClodicList of authors in order
- Landing page
-
https://arxiv.org/abs/2306.07569Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2306.07569Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
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https://arxiv.org/pdf/2306.07569Direct OA link when available
- Concepts
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Affordance, Computer science, Component (thermodynamics), Ontology, Human–computer interaction, Robot, Context (archaeology), Knowledge base, Inference, Action (physics), Artificial intelligence, Knowledge management, Epistemology, Philosophy, Paleontology, Biology, Quantum mechanics, Thermodynamics, PhysicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
1Total citation count in OpenAlex
- Citations by year (recent)
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2024: 1Per-year citation counts (last 5 years)
- Related works (count)
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.means | 81 |
| abstract_inverted_index.needs | 134, 146 |
| abstract_inverted_index.owns, | 50 |
| abstract_inverted_index.refer | 34 |
| abstract_inverted_index.robot | 49, 133 |
| abstract_inverted_index.stems | 44 |
| abstract_inverted_index.tasks | 22 |
| abstract_inverted_index.them. | 75 |
| abstract_inverted_index.which | 21, 29 |
| abstract_inverted_index.work, | 58 |
| abstract_inverted_index.allows | 18, 100 |
| abstract_inverted_index.aspect | 2 |
| abstract_inverted_index.define | 20 |
| abstract_inverted_index.doing. | 16 |
| abstract_inverted_index.effort | 168 |
| abstract_inverted_index.linked | 54, 73 |
| abstract_inverted_index.merely | 72 |
| abstract_inverted_index.rather | 70 |
| abstract_inverted_index.social | 171 |
| abstract_inverted_index.action, | 131 |
| abstract_inverted_index.agent's | 85 |
| abstract_inverted_index.already | 184 |
| abstract_inverted_index.broader | 167 |
| abstract_inverted_index.cannot. | 31 |
| abstract_inverted_index.capable | 14 |
| abstract_inverted_index.concept | 63 |
| abstract_inverted_index.context | 177 |
| abstract_inverted_index.robot's | 5 |
| abstract_inverted_index.assigned | 26 |
| abstract_inverted_index.concept. | 41 |
| abstract_inverted_index.entities | 121 |
| abstract_inverted_index.entity's | 159 |
| abstract_inverted_index.example. | 127 |
| abstract_inverted_index.existing | 185 |
| abstract_inverted_index.external | 120, 140, 158 |
| abstract_inverted_index.inferred | 66 |
| abstract_inverted_index.initiate | 129 |
| abstract_inverted_index.entities. | 141 |
| abstract_inverted_index.extension | 181 |
| abstract_inverted_index.inference | 99 |
| abstract_inverted_index.inferring | 83 |
| abstract_inverted_index.integrate | 170 |
| abstract_inverted_index.introduce | 78 |
| abstract_inverted_index.knowledge | 6, 37 |
| abstract_inverted_index.low-level | 96 |
| abstract_inverted_index.ontology. | 186 |
| abstract_inverted_index.relations | 150 |
| abstract_inverted_index.together. | 55 |
| abstract_inverted_index.Capability | 40 |
| abstract_inverted_index.Therefore, | 76 |
| abstract_inverted_index.affordance | 149 |
| abstract_inverted_index.components | 47, 69, 90 |
| abstract_inverted_index.responsive | 113 |
| abstract_inverted_index.Human-Robot | 175 |
| abstract_inverted_index.acknowledge | 104 |
| abstract_inverted_index.affordances | 172 |
| abstract_inverted_index.hypothesize | 60 |
| abstract_inverted_index.ontological | 80 |
| abstract_inverted_index.capabilities | 43, 86, 138, 153 |
| abstract_inverted_index.capabilities. | 97 |
| abstract_inverted_index.collaboration | 176 |
| abstract_inverted_index.dispositions. | 160 |
| abstract_inverted_index.generalizable | 118 |
| abstract_inverted_index.self-awareness | 9 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 3 |
| citation_normalized_percentile |