KANT: A Tool for Grounding and Knowledge Management

• Miguel Á. González-Santamarta ^[1] ; Francisco J. Rodríguez-Lera ^[1] ; Francisco Martín ^[2] ; Camino Fernández ^[1] ; Vicente Matellán ^[1]
  1. [1] Universidad de León

     Universidad de León

     León, España

     
  2. [2] Universidad Rey Juan Carlos

     Universidad Rey Juan Carlos

     Madrid, España

     
• Localización: Bio-inspired Systems and Applications: from Robotics to Ambient Intelligence: 9th International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2022, Puerto de la Cruz, Tenerife, Spain, May 31 – June 3, 2022, Proceedings, Part II / José Manuel Ferrández Vicente (dir. congr.), José Ramón Álvarez Sánchez (dir. congr.), Félix de la Paz López (dir. congr.), Hojjat Adeli (aut.), 2022, ISBN 978-3-031-06527-9, págs. 452-461
• Idioma: inglés
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• Resumen

  • The roboticist community divides the knowledge representation and decision-making in the symbolic and sub-symbolic fields. Thus, real-world robotics grounded representation requires specific software techniques for landing continuous and discrete state variables in both fields. This research designs and develops an Open Source tool called KANT (Knowledge mAnagemeNT). It will be used to translate sub-symbolic properties and attributes from the robot environment to a symbolic paradigm in the Knowledge Base, in particular to PDDL. Based on Python, KANT includes mechanisms to enhance the process of knowledge manipulation in real-world scenarios through the use of in-memory or non-SQL databases, which would mean a time enhancement of around 30% of total time in middleware such as ROS 2.