Abstract
This paper describes the knowledge processing framework COAR that can be used for agent reasoning about mechanical objects, evolving aggregates, and their changing functional roles in on-going assembly tasks. In COAR, a structured model of the target assembly can be defined that describes its components, their spatial arrangement, as well as specific functional roles of components in the target assembly. Inferences over COAR representations include the recognition of constructed aggregates as subassemblies of the target aggregate, and the reclassification of components according to their use in larger assemblies. COAR representations can be interfaced with a 3D geometry scene description. COAR has been applied to assembly tasks both in virtual and real environments.
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© 1998 Springer-Verlag Berlin Heidelberg
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Jung, B. (1998). Reasoning about Objects, Assemblies, and Roles in On-Going Assembly Tasks. In: Distributed Autonomous Robotic Systems 3. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-72198-4_25
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DOI: https://doi.org/10.1007/978-3-642-72198-4_25
Publisher Name: Springer, Berlin, Heidelberg
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