Specification of Tasks in Terms of Object-Level Relations for a Two-Handed Robot

It is customary in artificial intelligence that object-level robot task planning is performed by stating sequences of situations (states of the environment) and that transitions between those states are executed by operations of an active agent. The paper presents a formal model of a robotic system in which operations treated as behaviours are defined in terms of transition functions. Those behaviours bring about the required environment state changes. The paper focuses on the transformation between the object-level plan expressed as a sequence of relations between objects into a low level sequences of robot behaviours. The theoretical considerations are illustrated on an example of a two-handed robot acquiring a jar from a closed cupboard, emptying the contents of the jar into a bowl and replacing the jar in the cupboard, i.e. a standard service task.