Abstract
Autonomous underwater robots, such as the UX-1 developed in the UNEXMIN project, need to maintain reliable autonomous operation in hazardous and unknown environments. Because of the lack of any kind of real-time communications with a human operated command and control station, the control architecture needs to be enhanced with mission-level self-diagnosis and self-adaptation properties an additional provided by some kind of supervisory or “metacontrol” component to ensure its reliability. In this paper, we propose an ontological implementation of such component based on Web Ontology Language (OWL) and the Semantic Web Rule Language (SWRL). The solution is based on an ontology of the functional architecture of autonomous robots, which allows inferring the effects of the performance of its constituents components in the functions required during the robot mission, and generate the reconfigurations needed to maintain operation reliably. The concept solution has been validated using a hypothetical set of scenarios implemented in an OWL ontology and an OWLAPI-based reasoner, which we aim at validating by integrating the metacontrol reasoning with a realistic simulation of the underwater robot.
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Notes
- 1.
H2020, Grant agreement No 690008.
- 2.
There is a high interest in re-opening some of these sites, since the European Union is largely dependent on raw materials imports.
- 3.
We use italics for the elements in TOMASys ontology.
- 4.
We assume here that this information is provided by the monitoring infrastructure or other specific observers.
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Acknowledgements
This work was supported by the UNEXMIN (Grant Agreement No. 690008) and ROSIN (Grant Agreement No. 732287) projects with funding from the European Union’s Horizon 2020 research and innovation programme, and has been co-funded by the RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub (“Robotica aplicada a la mejora de la calidad de vida de los ciudadanos. fase IV”; S2018/NMT-4331), funded by “Programas de Actividades I+D en la Comunidad de Madrid” and cofunded by Structural Funds of the EU.
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Hernandez Corbato, C., Milosevic, Z., Olivares, C., Rodriguez, G., Rossi, C. (2020). Meta-control and Self-Awareness for the UX-1 Autonomous Underwater Robot. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1092. Springer, Cham. https://doi.org/10.1007/978-3-030-35990-4_33
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