Towards an Architecture for Knowledge Representation and Reasoning in Robotics

This paper describes an architecture that combines the complementary strengths of probabilistic graphical models and declarative programming to enable robots to represent and reason with qualitative and quantitative descriptions of uncertainty and domain knowledge. An action language is used for the architecture's low-level (LL) and high-level (HL) system descriptions, and the HL definition of recorded history is expanded to allow prioritized defaults. For any given objective, tentative plans created in the HL using commonsense reasoning are implemented in the LL using probabilistic algorithms, and the corresponding observations are added to the HL history. Tight coupling between the levels helps automate the selection of relevant variables and the generation of policies in the LL for each HL action, and supports reasoning with violation of defaults, noisy observations and unreliable actions in complex domains. The architecture is evaluated in simulation and on robots moving objects in indoor domains.