A Review of Knowledge Bases for Service Robots in Household Environments

Consider a typical task-solving scenario where a robot is performing a task involving tool use. When a robot is operating in a dynamic environment, it can not be assumed that a tool required in the task will always be available. Our research work concerns the development of a knowledge-based computation system to determine a substitute for the unavailable tool. During the development, we identified the requirements regarding the knowledge base for our scenario and selected 9 existing knowledge bases for review. In this article, we review existing knowledge bases developed for the service robotics and investigate their suitability for this specific application. The knowledge bases are reviewed with respect to various criteria corresponding to the categories knowledge acquisition, knowledge representation, and knowledge processing. Our main contribution is to facilitate the selection of a knowledge base according to one’s requirements of a target application for service robots involving household-objects.

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