SPATIAL KNOWLEDGE IN PLANNING LANGUAGE

This paper describes the integration of spatial knowledge in a planning problem. For example, in the case of evacuation problem of a building during a fire, we must know the fastest paths (the shortest, least congested,). Such applications require spatial knowledge to perform spatial planning. This planning taste becomes more complex when knowledge are shared by many actors. Indeed, our interest concerns collaborative work between agents, in particular the case of human-robot interaction. In such contexts, considering the space information in planning, we use a spatial ontology called SpaceOntology which handles different representations and abstraction levels of spatial information. We integrate this ontology in the planning by defining a formal language planning: Spatial-PDDL. Spatial-PDDL combines PDDL concepts with this ontology. Also, we distinguish between three types of actions: non spatial, spatial and navigation actions.