The ability of reusing existing task execution plans is an important step towards autonomous behavior. Today, the reuse of sophisticated services allowing robots to act autonomous is usually limited to identical robot platforms and to very similar application scenarios. The approach presented in this paper proposes a way to mitigate this limitation by storing and reusing task plans on a global accessible database. We describe the task execution engine for the RoboEarth project [26] to demonstrate its ability to execute tasks in a flexible and reliable way.
Context aware systems use context information to adapt their behaviour accordingly. In order to derive high level context information from low level context, such as sensor values, context reasoning methods that correlate observable context information, are necessary. Several context reasoning mechanisms have been proposed in the literature. Usually these mechanisms are centralized, leading to suboptimal utilization of network resources and poor system performance in case of largescale scenarios. Therefore to increase the scalability of context reasoning systems the development of methods that distribute the reasoning process is necessary. Existing distributed approaches are method specific and do not provide a generic formalization for distributed reasoning. In this paper we introduce a novel system which enables distributed context reasoning in a generic way that is independent of the reasoning algorithm.
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