Architecture of an Autonomous Robot at the IT Level

Abstract

The paper proposes an architecture for a control system of an autonomous robot as well as an architecture for a mul -robot system in which the robots cooperate in order to accomplish client's tasks. The solu on is based on the SOA paradigm and an ontology as a way of represen ng an environment, and is specified at the Informaon Technology level. This approach is focused on intui ve coopera on with a human and automa on of a task execu on, as well as automa on of handling excep ons 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. Addi onally, a simula on environment was designed and implemented in Unity. It allows for automa c genera on of the visual representa on of informa on defined in the ontology, and for tes ng the effec veness of the proposed architecture in different types of scenarios with variable sets of services (devices).