Technical University of Munich

@techreport{tenorth_deliverable_2010,
 author = {M Tenorth and M Beetz},
 title = {Deliverable D5.2: The {RoboEarth} Language – Language Specification},
 institution = {{FP7-ICT-248942} {RoboEarth}},
 year = {2010},
 number = {D5.2},
 abstract = {This document describes the current state of implementation of the
	{RoboEarth} representation language. This language is designed for
	two main purposes. First, it should allow to represent all information
	a robot needs to perform a reasonably complex task. This includes
	information about (1) Plans, which consist of the actions a task
	is composed of, ordering constraints among them, monitoring and failure
	handling, as well as action parameters like objects, locations, grasp
	types; (2) Objects, especially types, dimensions, states, and other
	properties, but also locations of specific objects a robot has detected,
	and object models that can be used for recognition; and the (3) Environment,
	including maps for self-localization as well as poses of objects
	like pieces of furniture. The second main task of the {RoboEarth}
	language is to allow a robot to decide on its own if a certain piece
	of information is useful to it. That means, a robot must be able
	to check if an action description contains a plan for the action
	it would like to do, if it meets all requirements to perform this
	action, and if it has the sensors needed to use an object recognition
	model. Using the semantic descriptions in the {RoboEarth} language,
	a robot can perform the checks using logical inference.},
}