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Preferences are defeasible knowledge as they can change with time or context, and should be stored in a non-monotonic knowledge-base system, capable of expressing incomplete knowledge, updating defaults and exceptions dynamically, and handling multiple extensions. In this paper a knowledge-base system with such an expressive power is presented. Non-monotonicity is handled using a generalization of the Principle of Specificity, which states that in case of knowledge conflict the most specific proposition should be preferred. Reasoning about preferences is used on demand through conversational protocols that are generic and domain independent. We describe the general principles underlying such protocols and their implementation through the SitLog programming language. We also show a demonstration scenario in which the robot Golem-III assists human users using such protocols and preferences stored in its non-monotonic knowledege-base service.<\/jats:p>","DOI":"10.3233\/jifs-179055","type":"journal-article","created":{"date-parts":[[2019,5,14]],"date-time":"2019-05-14T12:19:36Z","timestamp":1557836376000},"page":"5105-5114","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Reasoning with preferences in service robots"],"prefix":"10.1177","volume":"36","author":[{"given":"Ivan","family":"Torres","sequence":"first","affiliation":[{"name":"Posgrado en Ciencia e Ingenier\u00eda de la Computaci\u00f3n, Universidad Nacional Aut\u00f3noma de M\u00e9xico (UNAM), Mexico"}]},{"given":"No\u00e9","family":"Hern\u00e1ndez","sequence":"additional","affiliation":[{"name":"Departamento de Ciencias de la Computaci\u00f3n, Instituto de Investigaciones en Matem\u00e1ticas Aplicadas y en Sistemas (IIMAS), Universidad Nacional Aut\u00f3noma de M\u00e9xico (UNAM), Mexico"}]},{"given":"Arturo","family":"Rodr\u00edguez","sequence":"additional","affiliation":[{"name":"Posgrado en Ciencia e Ingenier\u00eda de la Computaci\u00f3n, Universidad Nacional Aut\u00f3noma de M\u00e9xico (UNAM), Mexico"}]},{"given":"Gibr\u00e1n","family":"Fuentes","sequence":"additional","affiliation":[{"name":"Departamento de Ciencias de la Computaci\u00f3n, Instituto de Investigaciones en Matem\u00e1ticas Aplicadas y en Sistemas (IIMAS), Universidad Nacional Aut\u00f3noma de M\u00e9xico (UNAM), Mexico"}]},{"given":"Luis A.","family":"Pineda","sequence":"additional","affiliation":[{"name":"Departamento de Ciencias de la Computaci\u00f3n, Instituto de Investigaciones en Matem\u00e1ticas Aplicadas y en Sistemas (IIMAS), Universidad Nacional Aut\u00f3noma de M\u00e9xico (UNAM), Mexico"}]}],"member":"179","published-online":{"date-parts":[[2019,5,14]]},"reference":[{"key":"e_1_3_2_2_2","first-page":"81","volume-title":"Proceedings of the Joint Conference on Smart Objects and Ambient Intelligence: Innovative Context-aware Services: Usages and Technologies","author":"Alami R.","year":"2005","unstructured":"AlamiR., ClodicA., MontreuilV., SisbotE.A. and ChatilaR., Task planning for human-robot interaction, In: Proceedings of the Joint Conference on Smart Objects and Ambient Intelligence: Innovative Context-aware Services: Usages and Technologies, 2005, pp. 81\u201385."},{"key":"e_1_3_2_3_2","volume-title":"IROS Workshop on Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform","volume":"120","author":"Becker J.","year":"2011","unstructured":"BeckerJ., BerschC., PangercicD., PitzerB., R\u00fchrT., SankaranB., SturmJ., StachnissC., BeetzM. and BurgardW., The pr2 workshop-mobile manipulation of kitchen containers, In: IROS Workshop on Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform, vol 120, 2011."},{"key":"e_1_3_2_4_2","first-page":"640","volume-title":"Proceedings of the 13th International Joint Conference on Artifical Intelligence - Volume 1","author":"Benferhat S.","year":"1993","unstructured":"BenferhatS., CayrolC., DuboisD., LangJ. and PradeH., Inconsistency management and prioritized syntax-based entailment, In: Proceedings of the 13th International Joint Conference on Artifical Intelligence - Volume 1, 1993, pp. 640\u2013645."},{"key":"e_1_3_2_5_2","first-page":"940","volume-title":"Proceedings of the Twelfth National Conference on Artificial Intelligence","volume":"2","author":"Brewka G.","year":"1994","unstructured":"BrewkaG., Reasoning about priorities in default logic, In: Proceedings of the Twelfth National Conference on Artificial Intelligence, vol 2, 1994, pp. 940\u2013945."},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(99)00015-6"},{"key":"e_1_3_2_7_2","first-page":"989","volume-title":"Proceedings of the International Conference on Autonomous Agents and Multiagent Systems","volume":"1","author":"Chen X.","year":"2010","unstructured":"ChenX., JiJ., JiangJ., JinG., WangF. and XieJ., Developing high-level cognitive functions for service robots, In: Proceedings of the International Conference on Autonomous Agents and Multiagent Systems, vol 1, 2010, pp. 989\u2013996."},{"key":"e_1_3_2_8_2","unstructured":"ChenX. 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