Knowledge Representation and Reasoning for Adaptive Robotic Manipulation

This repository is a collection of the knowledge files used in the thesis "Knowledge Representation and Reasoning for Adaptive Robotic Manipulation", by Oriol Ruiz Celada. These files are used within the BeAware framework and are referenced in Appendix A and B of the thesis document.

Repository Structure

beaware_ontology/

Contains beaware_ontology.owl, the base ontology for the Be-Aware framework, shared across all evaluations, defining the core classes, properties and rules of the knowledge base. Referenced in Appendix A.

main_demo_knowledge/

Contains the knowledge files and evaluation outputs for the main demonstration scenario used throughout the thesis. Referenced in Appendix B. It is organized in the following folders:

• ontologies/main_demo_ontology.owl: the Application ontology used in the main demo, extending the Be-Aware ontology.
• PDDL/main_demo_domain.pddl: the PDDL domain definition used in the main demo.
• BTs/main_demo_templates.xml: the Behavior Tree templates used to compose the executable trees in the main demo.
• scenarios/: YAML configuration files describing each evaluation scenario, organized by chapter.
• outputs/: results generated by running the scenarios, organized by chapter.

Evaluations by Chapter

• Chapter 5, Knowledge Management: evaluates knowledge base loading and scaling, and the custom state reasoner against SWRL. Scenario YAMLs are in scenarios/chapter5/.
• Chapter 6, Replanning: evaluates PDDL problem generation for baseline and extended scenarios. Scenario YAMLs are in scenarios/chapter6/.
• Chapter 7, Execution Configuration: evaluates Behavior Tree flavors under baseline and context-mode conditions. Scenario YAMLs are in scenarios/chapter7/.
• Chapter 8, Smart Monitoring: showcases the use of MRSs in an illustrative scenario. Scenario YAMLs are in scenarios/chapter8/.

Outputs

The outputs/ is organized by fire type and chapter.

• outputs/ontologies/: reasoned ontology snapshots, for chapters 5 and 6.
• outputs/PDDL/: generated PDDL problems, for chapter 6.
• outputs/BTs/: generated Behavior Trees, for chapters 7 and 8.

Each scenario subfolder and each output subfolder contains its own README.md briefly describing every file inside.