Bernardo, RodrigoSousa, João M.C.Gonçalves, Paulo2021-12-282021-12-282021Bernardo R, Sousa JMC, Gonçalves PJS. Planning robotic agent actions using semantic knowledge for a home environment. Intell Robot 2021;1(2):101-15. http://dx.doi.org/10.20517/ir.2021.10http://hdl.handle.net/10400.11/7769Autonomous mobile robotic agents are increasingly present in highly dynamic environments, thus making the planning and execution of their tasks challenging. Task planning is vital in directing the actions of a robotic agent in domains where a causal chain could lock the agent into a dead-end state. This paper proposes a framework that integrates a domain ontology (home environment ontology) with a task planner (ROSPlan) to translate the objectives coming from a given agent (robot or human) into executable actions by a robotic agent.engOntologiesAutonomous roboticsPlanningKnowledge representationSemantic mapsjournal article10.20517/ir.2021.10