Finding Ways to Get the Job Done: An Affordance-Based Approach


  • Iman Awaad Bonn-Rhein-Sieg University of Applied Sciences
  • Gerhard Kraetzschmar Bonn-Rhein-Sieg University of Applied Sciences
  • Joachim Hertzberg Osnabrück University and DFKI RIC Osnabrück Branch



HTN Planning, Affordances, Description Logics, Conceptual similarity, Domestic Service Robotics


Adapting plans to changes in the environment by finding alternatives and taking advantage of opportunities is a common human behavior. The need for such behavior is often rooted in the uncertainty produced by our incomplete knowledge of the environment. While several existing planning approaches deal with such issues, artificial agents still lack the robustness that humans display in accomplishing their tasks. In this work, we address this brittleness by combining Hierarchical Task Network planning, Description Logics, and the notions of affordances and conceptual similarity. The approach allows a domestic service robot to find ways to get a job done by making substitutions. We show how knowledge is modeled, how the reasoning process is used to create a constrained planning problem, and how the system handles cases where plan generation fails due to missing/unavailable objects. The results of the evaluation for two tasks in a domestic service domain show the viability of the approach in finding and making the appropriate goal transformations.




How to Cite

Awaad, I., Kraetzschmar, G., & Hertzberg, J. (2014). Finding Ways to Get the Job Done: An Affordance-Based Approach. Proceedings of the International Conference on Automated Planning and Scheduling, 24(1), 499-503.