Approaches for action sequence representation in robotics: a review

Robust representation of actions and its sequences for complex robotic tasks would transform robot’s understand- ing to execute robotic tasks efficiently. The challenge is to under- stand action sequences for highly unstructured environments and to represent and construct action and action sequences. In this manuscript, we present a review of literature dealing with representation of action and action sequences for robot task planning and execution. The methodological review was conducted using Google Scholar and IEEE Xplore, searching the specific keywords. This manuscript gives an overview of current approaches for representing action sequences in robotics. We propose a classification of different methodologies used for action sequences representation and describe the most important aspects of the reviewed publications. This review allows the reader to understand several options that do exist in the research community, to represent and deploy such action representations in real robots

Turning High-Level Plans into Robot Programs in Uncertain Domains

. The actions of a robot like lifting an object are often best thought of as low-level processes with uncertain outcome. A highlevel robot plan can be seen as a description of a task which combines these processes in an appropriate way and which may involve nondeterminism in order to increase a plan's generality. In a given situation, a robot needs to turn a given plan into an executable program for which it can establish, through some form of projection, that it satisfies a given goal with some probability. In this paper we will show how this can be achieved in a logical framework. In particular, low-level processes are modelled as programs in pGOLOG, a probabilistic variant of the action language GOLOG. High-level plans are like ordinary GOLOG programs except that during projection the names of low-level processes are replaced by their pGOLOG- definitions. 1 Introduction The actions of a robot like lifting an object are often best thought of as low-level processes with uncertain ou..