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Architecture of an Autonomous Robot at the IT Level

Ambroszkiewicz S., Bartyna W., Skarżyński K., Stępniak M., Szymczakowski M.

Journal of Automation Mobile Robotics and Intelligent Systems

2015

Vol. 9, No. 1

34--40

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).

Ontologia w systemie wielorobotowym

Ambroszkiewicz S., Bartyna W., Ryżko A., Skarżyński K., Szymczakowski M., Stępniak M.

Prace Naukowe Politechniki Warszawskiej. Elektronika

2014

z. 194, t. 1

175--184

W pracy zaproponowana została ontologia, jako reprezentacja środowiska działania robotów oraz architektura systemu wielorobotowego oparta na paradygmacie SOA, która umożliwia człowiekowi/użytkownikowi zlecanie robotom zadań do realizacji.

Architecture of autonomus robot control system (on the level of information technology) was proposed. It is based on the SOA paradigm, and the concept of ontology for modeling robot environment. An example of the ontology was constructed and used in the experimental scenario. A human user can formulate tasks to be accomplished by the robot.