{"type":"ScholarlyArticle","title":"Integrating Answer Set Programming with Semantic Dictionaries for Robot Task Planning","authors":[{"name":"Dongcai Lu","slug":"dongcai-lu","given":"Dongcai","family":"Lu","affiliation":"School of Computer Science and Technology , University of Science and Technology of China , China"},{"name":"Yi Zhou","slug":"yi-zhou","given":"Yi","family":"Zhou","affiliation":"School of Computing, Engineering and Mathematics , University of Western Sydney , Australia"},{"name":"Feng Wu","slug":"feng-wu","given":"Feng","family":"Wu","affiliation":"School of Computer Science and Technology , University of Science and Technology of China , China"},{"name":"Zhao Zhang","slug":"zhao-zhang","given":"Zhao","family":"Zhang","affiliation":"School of Computer Science and Technology , University of Science and Technology of China , China"},{"name":"Xiaoping Chen","slug":"xiaoping-chen","given":"Xiaoping","family":"Chen","affiliation":"School of Computer Science and Technology , University of Science and Technology of China , China"}],"abstract":"In this paper, we propose a novel integrated task planning system for service robot in domestic domains. Given open-ended high-level user instructions in natural language, robots need to generate a plan, i.e., a sequence of low-level executable actions, to complete the required tasks. To address this, we exploit the knowledge on semantic roles of common verbs defined in semantic dictionaries such as FrameNet and integrate it with Answer Set Programming --- a task planning framework with both representation language and solvers. In the experiments, we evaluated our approach using common benchmarks on service tasks and showed that it can successfully handle much more tasks than the state-of-the-art solution. Notably, we deployed the proposed planning system on our service robot for the annual RoboCup@Home competitions and achieved very encouraging results.","doi":"10.24963/ijcai.2017/609","url":"https://ijcai.org/proceedings/2017/609","pdf":"https://ijcai.org/proceedings/2017/0609.pdf","markdown":"https://ijcai.org/proceedings/2017/609.md","bibtex":"https://ijcai.org/proceedings/2017/bibtex/609","volume":{"slug":"2017","title":"Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2017","url":"https://ijcai.org/proceedings/2017/","year":2017,"location":"Melbourne, Australia","dates":"19-25 August 2017","editors":"Carles Sierra","isbn":"978-0-9992411-0-3","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2017"},"section":"Planning and Scheduling","track":"Main track","number":609,"pages":{"first":4361,"last":4367},"keywords":["Planning and Scheduling: Planning with Incomplete information","Robotics and Vision: Human Robot Interaction","Planning and Scheduling: Robot Planning"],"videos":[],"references":[{"position":1,"raw":"[Angeli et al., 2015] Gabor Angeli, Melvin Johnson Premkumar, and Christopher D Manning. 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