75 citations · 445 across the 63 of their papers we have counts for
10 papers · 1 filter
Achieving Scalable Robot Autonomy via neurosymbolic planning using lightweight local LLM
Nicholas Attolino, Alessio Capitanelli, Fulvio Mastrogiovanni
PDDL-based symbolic task planning remains pivotal for robot autonomy yet struggles with dynamic human-robot collaboration due to scalability, re-planning demands, and delayed plan…
OWLOOP: Interfaces for Mapping OWL Axioms into OOP Hierarchies
Luca Buoncompagni, Fulvio Mastrogiovanni
The paper tackles the issue of mapping logic axioms formalised in the Ontology Web Language (OWL) within the Object-Oriented Programming (OOP) paradigm. The issues of mapping OWL a…
Incremental Bootstrapping and Classification of Structured Scenes in a Fuzzy Ontology
Luca Buoncompagni, Fulvio Mastrogiovanni
We foresee robots that bootstrap knowledge representations and use them for classifying relevant situations and making decisions based on future observations. Particularly for assi…
A Framework for Neurosymbolic Robot Action Planning using Large Language Models
Alessio Capitanelli, Fulvio Mastrogiovanni
Symbolic task planning is a widely used approach to enforce robot autonomy due to its ease of understanding and deployment in robot architectures. However, techniques for symbolic…
OWLOOP: A Modular API to Describe OWL Axioms in OOP Objects Hierarchies
Luca Buoncompagni, Syed Yusha Kareem, Fulvio Mastrogiovanni
OWLOOP is an Application Programming Interface (API) for using the Ontology Web Language (OWL) by the means of Object-Oriented Programming (OOP). It is common to design software ar…
Human Activity Recognition Models in Ontology Networks
Luca Buoncompagni, Syed Yusha Kareem, Fulvio Mastrogiovanni
We present Arianna+, a framework to design networks of ontologies for representing knowledge enabling smart homes to perform human activity recognition online. In the network, node…
Manipulation of Articulated Objects using Dual-arm Robots via Answer Set Programming
Riccardo Bertolucci, Alessio Capitanelli, Carmine Dodaro +4
The manipulation of articulated objects is of primary importance in Robotics, and can be considered as one of the most complex manipulation tasks. Traditionally, this problem has b…
Arianna+: Scalable Human Activity Recognition by Reasoning with a Network of Ontologies
Syed Yusha Kareem, Luca Buoncompagni, Fulvio Mastrogiovanni
Aging population ratios are rising significantly. Meanwhile, smart home based health monitoring services are evolving rapidly to become a viable alternative to traditional healthca…
Towards a new paradigm for assistive technology at home: research challenges, design issues and performance assessment
Luca Buoncompagni, Barbara Bruno, Antonella Giuni +2
Providing elderly and people with special needs, including those suffering from physical disabilities and chronic diseases, with the possibility of retaining their independence at…
Scene learning, recognition and similarity detection in a fuzzy ontology via human examples
Luca Buoncompagni, Fulvio Mastrogiovanni, Alessandro Saffiotti
This paper introduces a Fuzzy Logic framework for scene learning, recognition and similarity detection, where scenes are taught via human examples. The framework allows a robot to:…