Combining Qualitative Spatial Reasoning and Ontological Reasoning for Supporting Robot Tasks

摘要

This paper presents an application of spatial and ontology reasoning technologies for mobile robot tasks. We provide a combination of the spatial reasoning calculi RCC-8 and CDC as well as their integration with OWLbased ontologies. An architecture that combines inference tools like Prolog, description logic reasoners, and complex-event processing implements our approach. We illustrate the results with a mobile robot scenario in a restaurant. In this paper, global path-finding demonstrates the use of qualitative spatial and ontological