{"id":"https://openalex.org/W1525420654","doi":"https://doi.org/10.1109/icar.2015.7251527","title":"Robust task execution through experience-based guidance for cognitive robots","display_name":"Robust task execution through experience-based guidance for cognitive robots","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1525420654","doi":"https://doi.org/10.1109/icar.2015.7251527","mag":"1525420654"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2015.7251527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251527","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067273251","display_name":"Sanem Sar\u0131el","orcid":"https://orcid.org/0000-0003-2993-6681"},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Sanem Sariel","raw_affiliation_strings":["Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Istanbul, Turkey","Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Istanbul, Turkey","institution_ids":["https://openalex.org/I48912391"]},{"raw_affiliation_string":"Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Turkey","institution_ids":["https://openalex.org/I48912391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014515291","display_name":"Petek Y\u0131ld\u0131z","orcid":null},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Petek Yildiz","raw_affiliation_strings":["Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Istanbul, Turkey","Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Istanbul, Turkey","institution_ids":["https://openalex.org/I48912391"]},{"raw_affiliation_string":"Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Turkey","institution_ids":["https://openalex.org/I48912391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000284616","display_name":"Serta\u00e7 Karap\u0131nar","orcid":null},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Sertac Karapinar","raw_affiliation_strings":["Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Istanbul, Turkey","Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Istanbul, Turkey","institution_ids":["https://openalex.org/I48912391"]},{"raw_affiliation_string":"Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Turkey","institution_ids":["https://openalex.org/I48912391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030783470","display_name":"Do\u011fan Altan","orcid":"https://orcid.org/0000-0002-5053-4954"},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Dogan Altan","raw_affiliation_strings":["Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Istanbul, Turkey","Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Istanbul, Turkey","institution_ids":["https://openalex.org/I48912391"]},{"raw_affiliation_string":"Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Turkey","institution_ids":["https://openalex.org/I48912391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031256210","display_name":"Melis Kapotoglu","orcid":null},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Melis Kapotoglu","raw_affiliation_strings":["Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Istanbul, Turkey","Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Istanbul, Turkey","institution_ids":["https://openalex.org/I48912391"]},{"raw_affiliation_string":"Artificial Intelligence and Robotics Laboratory, Istanbul Technical University, Turkey","institution_ids":["https://openalex.org/I48912391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I48912391"],"apc_list":null,"apc_paid":null,"fwci":0.6173,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.64908169,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"663","last_page":"668"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7106706500053406},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6545001864433289},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6245547533035278},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6014031171798706},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5817509889602661},{"id":"https://openalex.org/keywords/experiential-learning","display_name":"Experiential learning","score":0.516605019569397},{"id":"https://openalex.org/keywords/inductive-logic-programming","display_name":"Inductive logic programming","score":0.45402792096138},{"id":"https://openalex.org/keywords/multi-task-learning","display_name":"Multi-task learning","score":0.44871264696121216},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4153936803340912},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.38195884227752686},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3500177264213562},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.30502089858055115},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1976219117641449},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16820800304412842},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08888974785804749},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08837288618087769}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7106706500053406},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6545001864433289},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6245547533035278},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6014031171798706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5817509889602661},{"id":"https://openalex.org/C37228920","wikidata":"https://www.wikidata.org/wiki/Q1307600","display_name":"Experiential learning","level":2,"score":0.516605019569397},{"id":"https://openalex.org/C2779382394","wikidata":"https://www.wikidata.org/wiki/Q1464197","display_name":"Inductive logic programming","level":2,"score":0.45402792096138},{"id":"https://openalex.org/C28006648","wikidata":"https://www.wikidata.org/wiki/Q6934509","display_name":"Multi-task learning","level":3,"score":0.44871264696121216},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4153936803340912},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38195884227752686},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3500177264213562},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.30502089858055115},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1976219117641449},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16820800304412842},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08888974785804749},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08837288618087769},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icar.2015.7251527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251527","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:polen.itu.edu.tr:11527/47381","is_oa":false,"landing_page_url":"https://hdl.handle.net/11527/47381","pdf_url":null,"source":{"id":"https://openalex.org/S4306400460","display_name":"Istanbul Technical University Academic Open Archive (Istanbul Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I48912391","host_organization_name":"Istanbul Technical University","host_organization_lineage":["https://openalex.org/I48912391"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W79217775","https://openalex.org/W112239219","https://openalex.org/W136586159","https://openalex.org/W142019604","https://openalex.org/W1487503790","https://openalex.org/W1516870318","https://openalex.org/W1548071198","https://openalex.org/W1967346767","https://openalex.org/W2030614115","https://openalex.org/W2038719169","https://openalex.org/W2062087839","https://openalex.org/W2065227239","https://openalex.org/W2074251133","https://openalex.org/W2078876890","https://openalex.org/W2101199297","https://openalex.org/W2107766840","https://openalex.org/W2113001278","https://openalex.org/W2119831128","https://openalex.org/W2141088850","https://openalex.org/W2147226289","https://openalex.org/W2149390907","https://openalex.org/W2160927913","https://openalex.org/W2171396042","https://openalex.org/W2203521679","https://openalex.org/W2273237516","https://openalex.org/W2395540177","https://openalex.org/W2403083208","https://openalex.org/W2581528920","https://openalex.org/W2901136733","https://openalex.org/W4235170780","https://openalex.org/W4285719527","https://openalex.org/W6603238829","https://openalex.org/W6604568135","https://openalex.org/W6605540019","https://openalex.org/W6605740211","https://openalex.org/W6630736245","https://openalex.org/W6681784199","https://openalex.org/W6682131986","https://openalex.org/W6684890555","https://openalex.org/W6711994462","https://openalex.org/W6713122307","https://openalex.org/W6732688453","https://openalex.org/W6756486208","https://openalex.org/W6817016471"],"related_works":["https://openalex.org/W2280422768","https://openalex.org/W2393649970","https://openalex.org/W2183608076","https://openalex.org/W2038261507","https://openalex.org/W1587378402","https://openalex.org/W1984625914","https://openalex.org/W4239202700","https://openalex.org/W234648883","https://openalex.org/W4367308645","https://openalex.org/W2138804539"],"abstract_inverted_index":{"Robustness":[0],"in":[1,124],"task":[2],"execution":[3,48],"requires":[4],"tight":[5],"integration":[6],"of":[7,75,94,127],"continual":[8],"planning,":[9],"monitoring,":[10],"reasoning":[11],"and":[12,119,122],"learning":[13,26,35,62,96],"processes.":[14],"In":[15],"this":[16,82],"paper,":[17],"we":[18],"investigate":[19],"how":[20],"robustness":[21,123],"can":[22],"be":[23],"ensured":[24],"by":[25],"from":[27,46],"experience.":[28,78],"Our":[29],"approach":[30],"is":[31,58,100],"based":[32],"on":[33,102],"a":[34,40],"guided":[36,97],"planning":[37,98],"process":[38,99],"for":[39,67,114],"robot":[41,80],"that":[42,110],"gains":[43],"its":[44,89],"experience":[45,83],"action":[47],"failures":[49],"through":[50],"lifelong":[51],"experiential":[52],"learning.":[53],"Inductive":[54],"Logic":[55],"Programming":[56],"(ILP)":[57],"used":[59],"as":[60],"the":[61,76,95,111,128],"method":[63],"to":[64,84,87],"frame":[65],"hypotheses":[66,112],"failure":[68,115],"situations.":[69],"It":[70],"provides":[71],"first-order":[72],"logic":[73],"representation":[74],"robot's":[77],"The":[79,92,107],"uses":[81],"construct":[85],"heuristics":[86],"guide":[88],"future":[90,125],"decisions.":[91],"performance":[93],"analyzed":[101],"our":[103],"Pioneer":[104],"3-AT":[105],"robot.":[106,129],"results":[108],"reveal":[109],"framed":[113],"cases":[116],"are":[117],"sound":[118],"ensure":[120],"safety":[121],"tasks":[126]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
