When a robot is operating in a dynamic environment, it cannot be assumed that a tool required to solve a given task will always be available. In case of a missing tool, an ideal response would be to find a substitute to complete the task. In this paper, we present a proof of concept of a grounded knowledge-based approach to tool substitution where knowledge is generated in an unsupervised manner from robot’s sensory data about objects. Such robot-centric grounded knowledge is then used to identify a substitute from the available objects in the environment.
@inproceedings{Thosar2019toolimprov,
author = {Thosar, Madhura and Mueller, Christian A. and Zug, Sebastian and Pfingsthorn, Max},
title = {Towards a Prototypical Approach to Tool-Use Improvisation},
booktitle = {Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems},
series = {AAMAS '19},
year = {2019},
isbn = {978-1-4503-6309-9},
location = {Montreal QC, Canada},
pages = {2218--2219},
numpages = {2},
url = {http://dl.acm.org/citation.cfm?id=3306127.3332063},
publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
address = {Richland, SC},
}