Authors:
Yosuke Kawasaki
1
and
Masaki Takahashi
2
Affiliations:
1
Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
;
2
Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
Keyword(s):
Service Robot, Environmental Representation, Action Possibility.
Abstract:
For intelligent systems, it is important to understand the action possibility for agent in real space. As the action possibility varies with the subsystem configuration of the agent and its states, the possibilities should be understood based on the world state comprising the agent’s state as well as the environmental state. However, most conventional methods consider only the environmental state. Therefore, this study proposes a world state-dependent action graph based on knowledge representation using scene graphs which allows the capturing of the action possibility of agents, which implies the feasible actions and their positions in real space, and their recursive variations depending on the world state. Moreover, the effectiveness of the proposed method was verified with simulations, assuming a coffee shop environment.