The Benefits of Explicit Ontological Knowledge-Bases for Robotic Systems

System components are: knowledge-base the central ontological database perception extracts rectangular faces from RGB-D point clouds scene-generator builds up a set of Scenes waypoint-generator creates good observation poses contingent-planner uses the ontology data to generate smart inspection paths observation-action-planner handles sensor noise by re-running observation actions scenes-to-belief-state converts the scenes into a probabilistic map executor executes a mission by invoking other components in turn goal-evaluator determines if the target has been found EVALUATION