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| a highly modular way and can be extended with plug-ins providing additional cognitive capabilities. | a highly modular way and can be extended with plug-ins providing additional cognitive capabilities. | ||
| - | === CPL Extension Modules === | + | ==== CPL Extension Modules |
| * Designators are symbolic descriptions of entities such as objects (e.g. mugs, plates, ...), locations and parameterizations of actions. Designators unify symbolic and grounded concepts of the high level control program and the parameterization of the lower level components, which is necessary to efficiently reason about the execution of plans. | * Designators are symbolic descriptions of entities such as objects (e.g. mugs, plates, ...), locations and parameterizations of actions. Designators unify symbolic and grounded concepts of the high level control program and the parameterization of the lower level components, which is necessary to efficiently reason about the execution of plans. | ||
| * Process Modules encapsulate lower-level control processes that can be activated, deactivated and parameterized by the high-level control program. They resolve symbolic properties of designators and generate the parameterization of the low-level control routines, by taking into account the current belief state. | * Process Modules encapsulate lower-level control processes that can be activated, deactivated and parameterized by the high-level control program. They resolve symbolic properties of designators and generate the parameterization of the low-level control routines, by taking into account the current belief state. | ||
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| - | === KnowRob Extension Modules === | + | ==== KnowRob Extension Modules |
| - | KnowRob is a pragmatic knowledge processing system for autonomous robots that provides grounded knowledge processing and reasoning services. It is implemented in a highly modular way, allowing to load additional modules only when needed. The documentation of KnowRob and its extension modules can be found [[http://ros.org/wiki/knowrob|here]] and [[http:// | + | KnowRob is a pragmatic knowledge processing system for autonomous robots that provides grounded knowledge processing and reasoning services. It is implemented in a highly modular way, allowing to load additional modules only when needed. The documentation of KnowRob and its extension modules can be found at [[http://www.knowrob.org]]. For more information on the concepts behind the system, have a look at the [[knowrob|KnowRob page]]. |
| - | * ias_knowledge_base - the KnowRob base ontology | + | |
| - | * comp_ros - read information from ROS into the system (currently: object poses) | + | |
| - | * comp_spatial - compute qualitative spatial relations on demand | + | |
| - | * comp_temporal - compute temporal relations for time points and time spans | + | |
| - | * ias_semantic_map - the semantic environment map of the IAS kitchen | + | |
| - | * mod_vis - visualization modules for entities in the knowledge base | + | |
| - | == Download === | + | ==== Download |
| CRAM is available as several ROS packages and stacks through. CPL and the CPL extensions are documented at [[http:// | CRAM is available as several ROS packages and stacks through. CPL and the CPL extensions are documented at [[http:// | ||
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