Ontological framework for high-level task replanning for autonomous robotic systems

IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Robotics and Autonomous Systems Pub Date : 2024-11-19 DOI:10.1016/j.robot.2024.104861
Rodrigo Bernardo , João M.C. Sousa , Paulo J.S. Gonçalves
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Abstract

Several frameworks for robot control platforms have been developed in recent years. However, strategies that incorporate automatic replanning have to be explored, which is a requirement for Autonomous Robotic Systems (ARS) to be widely adopted. Ontologies can play an essential role by providing a structured representation of knowledge. This paper proposes a new framework capable of replanning high-level tasks in failure situations for ARSs. The framework utilizes an ontology-based reasoning engine to overcome constraints and execute tasks through Behavior Trees (BTs). The proposed framework was implemented and validated in a real experimental environment using an Autonomous Mobile Robot (AMR) sharing a plan with a human operator. The proposed framework uses semantic reasoning in the planning system, offering a promising solution to improve the adaptability and efficiency of ARSs.
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自主机器人系统高级别任务重新规划的本体论框架
近年来,已开发出多个机器人控制平台框架。然而,必须探索包含自动重新规划的策略,这是自主机器人系统(ARS)被广泛采用的要求。本体可提供结构化的知识表示,从而发挥重要作用。本文提出了一种新的框架,能够在故障情况下为ARS重新规划高级任务。该框架利用基于本体的推理引擎来克服制约因素,并通过行为树(BT)来执行任务。在真实的实验环境中,使用与人类操作员共享计划的自主移动机器人(AMR)对所提出的框架进行了实施和验证。所提出的框架在计划系统中使用了语义推理,为提高自主移动机器人(ARS)的适应性和效率提供了一个前景广阔的解决方案。
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来源期刊
Robotics and Autonomous Systems
Robotics and Autonomous Systems 工程技术-机器人学
CiteScore
9.00
自引率
7.00%
发文量
164
审稿时长
4.5 months
期刊介绍: Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.
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