Architecture of an Autonomous Robot at the IT Level

• Autorzy: Ambroszkiewicz S. , Bartyna W. , Skarżyński K. , Stępniak M. , Szymczakowski M.

Identyfikatory

DOI

10.14313/JAMRIS_1-2015/5

• Języki publikacji: EN

Abstrakty

EN

The paper proposes an architecture for a control system of an autonomous robot as well as an architecture for a multi-robot system in which the robots cooperate in order to accomplish client’s tasks. The solution is based on the SOA paradigm and an ontology as a way of represen ting an environment, and is specified at the Informa- tion Technology level. This approach is focused on intui tive cooperation with a human and automation of a task execution, as well as automation of handling exceptions and changes in the environment. For the purpose of the test scenarios, a sample ontology was created, which allows the human user to define tasks to be performed by a robot. Additionally, a simulation environment was designed and implemented in Unity. It allows for automatic generation of the visual representation of information defined in the ontology, and for testing the effectiveness of the proposed architecture in different types of scenarios with variable sets of services (devices).

Słowa kluczowe

EN

ontology; multi-robot system; environment representation

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2015
• Tom: Vol. 9, No. 1
• Strony: 34--40
• Opis fizyczny: Bibliogr. 14 poz., rys.

Twórcy

autor

Ambroszkiewicz S.

• Institute of Computer Science, Polish Academy of Sciences, ul. Jana Kazimierza 5, 01-248 Warsaw, Poland, www: http://www.ipipan.waw.pl/mas/stan/

autor

Bartyna W.

• Institute of Computer Science, University of Natural Sciences and Humanities, Siedlce, Poland

autor

Skarżyński K.

• Institute of Computer Science, University of Natural Sciences and Humanities, Siedlce, Poland

autor

Stępniak M.

• Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland

autor

Szymczakowski M.

• Institute of Computer Science, University of Natural Sciences and Humanities, Siedlce, Poland

Bibliografia

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