Ontology-Driven dynamic discovery and distributed coordination of a robot swarm

Authors:
Niels Bouten;Anna Hristoskova;Femke Ongenae;Jelle Nelis;Filip De Turck
Affiliations:
Department of Information Technology - IBBT, Ghent University, Ghent, Belgium;Department of Information Technology - IBBT, Ghent University, Ghent, Belgium;Department of Information Technology - IBBT, Ghent University, Ghent, Belgium;Department of Information Technology - IBBT, Ghent University, Ghent, Belgium;Department of Information Technology - IBBT, Ghent University, Ghent, Belgium
Venue:
AIMS'12 Proceedings of the 6th IFIP WG 6.6 international autonomous infrastructure, management, and security conference on Dependable Networks and Services
Year:
2012

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Abstract

Swarm robotic systems rely heavily on dynamic interactions to provide interoperability between the different autonomous robots. In current systems, interactions between robots are programmed into the applications controlling them. Incorporating service discovery into these applications allows the robots to dynamically discover other devices. However, since most of these mechanisms use syntax-based matching, the robots cannot reason about the offered functionality. Moreover, as contextual information is often not included in the matching process, it is impossible for robots to select the most suitable device under the current context. This paper aims to tackle these issues by proposing a framework for semantic service discovery in a dynamically changing environment. A semantic layer was added to an existing discovery protocol, offering a semantic interface. Using this framework, services can be searched based on what they offer, with services best suiting the current context yielding the highest matching scores.