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

Niels Bouten (UGent) , Anna Hristoskova (UGent) , Femke Ongenae (UGent) , Jelle Nelis (UGent) and Filip De Turck (UGent)
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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.
Keywords
IBCN, Service Discovery, Semantics, Context-awareness, Distributed Planning, Swarm Robotics, SERVICE DISCOVERY

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Citation

Please use this url to cite or link to this publication:

Chicago
Bouten, Niels, Anna Hristoskova, Femke Ongenae, Jelle Nelis, and Filip De Turck. 2012. “Ontology-driven Dynamic Discovery and Distributed Coordination of a Robot Swarm.” In Dependable Networks and Services, ed. Ramin Sadre, Jiri Novotny, Pavel Celeda, Martin Waldburger, and Burkhard Stiller, 7279:2–13. Berlin, Germany: Springer.
APA
Bouten, N., Hristoskova, A., Ongenae, F., Nelis, J., & De Turck, F. (2012). Ontology-driven dynamic discovery and distributed coordination of a robot swarm. In R. Sadre, J. Novotny, P. Celeda, M. Waldburger, & B. Stiller (Eds.), Dependable networks and services (Vol. 7279, pp. 2–13). Presented at the 6th IFIP WG 6.6 international conference on Autonomous Infrastructure, Management and Security (AIMS 2012), Berlin, Germany: Springer.
Vancouver
1.
Bouten N, Hristoskova A, Ongenae F, Nelis J, De Turck F. Ontology-driven dynamic discovery and distributed coordination of a robot swarm. In: Sadre R, Novotny J, Celeda P, Waldburger M, Stiller B, editors. Dependable networks and services. Berlin, Germany: Springer; 2012. p. 2–13.
MLA
Bouten, Niels et al. “Ontology-driven Dynamic Discovery and Distributed Coordination of a Robot Swarm.” Dependable Networks and Services. Ed. Ramin Sadre et al. Vol. 7279. Berlin, Germany: Springer, 2012. 2–13. Print.
@inproceedings{2985384,
  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.},
  author       = {Bouten, Niels and Hristoskova, Anna and Ongenae, Femke and Nelis, Jelle and De Turck, Filip},
  booktitle    = {Dependable networks and services},
  editor       = {Sadre, Ramin  and Novotny, Jiri  and Celeda, Pavel  and Waldburger, Martin  and Stiller, Burkhard },
  isbn         = {9783642306327},
  issn         = {0302-9743},
  language     = {eng},
  location     = {Luxembourg, GD Luxembourg},
  pages        = {2--13},
  publisher    = {Springer},
  title        = {Ontology-driven dynamic discovery and distributed coordination of a robot swarm},
  url          = {http://dx.doi.org/10.1007/978-3-642-30633-4\_2},
  volume       = {7279},
  year         = {2012},
}

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