Documentation Status

knowrob: bosch_semantic_map | comp_cop | comp_germandeli | comp_orgprinciples | comp_spatial | comp_temporal | ias_knowledge_base | ias_prolog_addons | ias_semantic_map | jpl | json_prolog | knowrob_actions | knowrob_cad_parser | knowrob_common | knowrob_objects | knowrob_omics | mod_probcog | mod_srdl | mod_vis | rosprolog | semweb | srldb | tf_prolog | thea

Package Summary

Documented

KnowRob is a knowledge processing framework developed in the IAS group at the Technische Universitaet Muenchen, Germany. It provides tools for knowledge acquisition, representation and reasoning that are tailored to the demands in mobile robotics.

knowrob: comp_cop | comp_orgprinciples | comp_semantic_map | comp_spatial | comp_temporal | ias_knowledge_base | ias_prolog_addons | ias_semantic_map | jpl | json_prolog | knowrob_actions | knowrob_cad_parser | knowrob_common | knowrob_objects | knowrob_omics | mod_probcog | mod_srdl | mod_vis | rosprolog | semweb | srldb | tf_prolog | thea

Package Summary

Documented

KnowRob is a knowledge processing framework for robots. It has originally been developed in the IAS group at Technische Universitaet Muenchen, Germany and is currently maintained by Moritz Tenorth at the Institute for Artificial Intelligence in Bremen, Germany. It provides tools for knowledge acquisition, representation and reasoning that are tailored to the demands in mobile robotics.

knowrob: comp_cop | comp_orgprinciples | comp_semantic_map | comp_spatial | comp_temporal | ias_knowledge_base | ias_prolog_addons | ias_semantic_map | jpl | json_prolog | json_prolog_msgs | knowrob_actions | knowrob_cad_parser | knowrob_common | knowrob_objects | knowrob_omics | mod_probcog | mod_srdl | mod_vis | rosprolog | semweb | srldb | tf_prolog | thea

Package Summary

Documented

KnowRob is a knowledge processing framework for robots. It has originally been developed in the IAS group at Technische Universitaet Muenchen, Germany and is currently maintained by Moritz Tenorth at the Institute for Artificial Intelligence in Bremen, Germany. It provides tools for knowledge acquisition, representation and reasoning that are tailored to the demands in mobile robotics.

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Installation

Please refer to the installation instructions here: http://www.knowrob.org/installation

News

  • We have launched http://www.knowrob.org as a central web site for all information about KnowRob and general topics around knowledge processing in robotics. Please also note that the repositories have moved to github.

  • The FAQ has been updated (Nov. 1st, 2012)

  • Please also have a look at the archive of KnowRob questions on answers.ros.org, several beginner questions have been answered there lately (Nov. 1st, 2012)

Documentation and Package List

  • Starting and accessing Prolog
    • rosprolog: Start an interactive Prolog shell

    • json_prolog: Start ROS service that offers a query interface

  • Base system
    • ias_knowledge_base: Core ontology and basic reasoning modules

    • knowrob_common: Common utilities for handling OWL (import/export, OWL reasoner interface, convenience query predicates), units of measure, and other generic functionality

    • knowrob_objects: Object-related functionality, supporting spatio-temporal reasoning, generation of the internal object representation, representation and conversion of coordinates

    • knowrob_actions: Read action properties, project effects of actions and processes, reason about transformations of objects induced by actions

    • ias_semantic_map: Semantic environment map representation in OWL

    • ias_prolog_addons: Prolog extensions such as the interface to the Weka and Mallet classification libraries, Jython interface, computation of semantic similarity measures between concepts

    • semweb: Semantic Web library of SWI prolog with extensions, e.g. computable properties

    • thea: OWL parser library

  • Reasoning packages
    • comp_spatial: Compute qualitative spatial relations from object poses

    • comp_temporal: Compute temporal relations, e.g. Allen's interval algebra

    • mod_vis: Visualization of the content of the knowledge base

    • knowrob_cad_models: Load Collada models for visualization and reasoning

    • mod_srdl: Description of robot components and capabilities and methods for matching these descriptions against requirements of actions

    • mod_probcog: Interface to the ProbCog statistical relational learning library

  • Interfaces to perception components
  • Probabilistic reasoning
  • Related packages:
    • comp_ehow: Import of natural-language web instructions, removed from KnowRob to reduce dependencies

Further documentation can be found here: http://www.knowrob.org/doc

Tutorials

A longer KnowRob tutorial was part of the CoTeSys ROS Fall School in November 2010 in Munich. The lecture material and example code can be found at http://www.ros.org/wiki/Events/CoTeSys-ROS-School/Day5 . The example code may be slightly outdated though.

More tutorials can be found in the extensive documentation section of the KnowRob wiki.

Issue tracker

Please file bugs and feature requests here: https://github.com/knowrob/knowrob/issues

Publications

Currently, the most comprehensive overview of the KnowRob system and related research can be found in Moritz Tenorth's PhD thesis. The full list of KnowRob-related publications is available at http://www.knowrob.org/publications

When you publish a paper using KnowRob, please cite the 2013 IJRR article:

@Article{tenorth13knowrob,
  author  = {Moritz Tenorth and Michael Beetz},
  title   = {{KnowRob -- A Knowledge Processing Infrastructure for 
              Cognition-enabled Robots. Part 1: The KnowRob System}},
  journal = {International Journal of Robotics Research (IJRR)},
  year    = {2013},
  volume  = {32},
  number  = {5},
  pages   = {566 -- 590},
  month   = {April},
  year    = {2013} 
}

Acknowledgments

The development of KnowRob has received funding from the DFG excellence initiative research cluster Cognition for Technical Systems (CoTeSys) and the EU FP7 projects RoboEarth and RoboHow.

Wiki: knowrob (last edited 2013-10-15 08:22:39 by AlexisMaldonado)