An overview of the KnowRob project: semantic knowledge for autonomous

Robots are increasingly acting in open, dynamic and partially observable worlds in collaboration with humans. In such environments, it is not possible any more to pre-program all actions the robot is to perform, but many decisions need to be made at runtime by the robot. Autonomously and competently deciding upon the course of actions requires comprehensive information about the situation they are in, the actions they may perform, their parameters, requirements and expected effects. This paper gives an overview of the KNOWROB knowledge processing system that provides robots with this information using a comprehensive, grounded and semantically annotated knowledge base.