Towards an Ontology for Autonomous Robots

Abstract

Robots and Systems (IROS), pp. 1359-1364, 2012 Towards an ontology for autonomous robots Paull, Liam; Severac, Gaetan; Raffo, Guilherme V.; Angel, Julian Mauricio; Boley, Harold; Durst, Phillip J.; Gray, Wendell; Habib, Maki; Nguyen, Bao; Ragavan, S. Veera; Saeedi G., Sajad; Sanz, Ricardo; Seto, Mae; Stefanovski, Aleksandar; Trentini, Michael; Li, Howard Abstract-The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems. For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles (AUVs). At the global mission level, the system ontologies must be able to model entities and relationship of multiple autonomous systems. At the individual system level, the ontologies must model the decision-making ability, control strategies, sensing abilities, map building, environment perception, motion planning, communication, autonomous behaviors and so on. The ontologies serve as a framework for working out concepts of employment with multiple vehicles for a variety of operational scenarios with emphasis on collaborative and cooperative missions.

Ontology for autonomous robotics

“…This standard defines a set of ontologies related to robotics and automation (R&A), including the core ontology for robotics and automation (CORA), which specifies the main and most general concepts and axioms in the R&A domain. Due to this achievement, in December 2015, IEEE ORA WG was the recipient of the Emerging Technology Award, a prize given annually by the IEEE Standards Association 1 . IEEE ORA WG was divided into different subgroups, each in charge of studying a specific R&A subdomain, such as industrial robotics, service robotics, and autonomous robotics (AuR) [1].…”

“…Due to this achievement, in December 2015, IEEE ORA WG was the recipient of the Emerging Technology Award, a prize given annually by the IEEE Standards Association 1 . IEEE ORA WG was divided into different subgroups, each in charge of studying a specific R&A subdomain, such as industrial robotics, service robotics, and autonomous robotics (AuR) [1]. In 2016, AuR received approval from the IEEE RAS Standing Committee to establish a study group conducting standards activities in AuR [2], which will impact on all R&A domains.…”

“…Hence, a standard ontology in AuR aims to provide the underlying semantics of 1 For more information see http://standards.ieee.org/develop/awards/etech/ the vocabulary used, e.g. in developments or communications of heterogeneous autonomous systems.…”

Towards a Robot Task Ontology Standard

“…First, various groups and institutions can provide specialized ontologies that extend CORA into more specific domains of R&A. This is currently taking place in the sub-domains of autonomous robots [17] and medical robotics. The other approach is to complement CORA with additional high-level ontologies.…”

The Benefits of Explicit Ontological Knowledge-Bases for Robotic Systems

“…Recently they have gained in popularity in robotics, as shown by the IEEE working group developing a common ontology for robotics and autonomous systems [10,11]. Ontologies have been used to represent domain and common-sense knowledge for household robots, in the KnowRob [13] and ORO [5] systems.…”