Application of Knowledge Driven Mobile Robots for Disassembly Tasks

  • Gottfried KoppensteinerEmail author
  • Christoph Krofitsch
  • Reinhard Hametner
  • David P. Miller
  • Munir Merdan
Part of the Studies in Computational Intelligence book series (SCI, volume 480)


Considering the disassembly as a vital and prospective industry domain, we use the mobile robots to automate the disassembly process. In our system, each mobile robot has particular skills and is supervised by an agent with related objectives and knowledge. An agent has an ontology-based world model, which is responsible to maintain the knowledge about the robot’s activities in relation to its environment as well as to its underlying software parts. The ontology is used to represent a specification of an agent’s domain knowledge. The system functionality is tested with three mobile robots having a task to disassemble a particular Lego construct. Different rule-engines were benchmarked in order to enhance the systems performance.



The authors would like to acknowledge the support by the Sparkling Science program, an initiative of the Austrian Federal Ministry of Science and Research. We also want to thank all partners involved in the DISBOTICS Project, especially the students at Vienna Institute of Technology (TGM), department for Information-Technology, and the KISS Institute of Practical Robotics.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Gottfried Koppensteiner
    • 1
    Email author
  • Christoph Krofitsch
    • 2
  • Reinhard Hametner
    • 1
  • David P. Miller
    • 3
  • Munir Merdan
    • 1
  1. 1.Institute of Automation and ControlVienna University of TechnologyViennaAustria
  2. 2.Practical Robotics Institute AustriaViennaAustria
  3. 3.Schools of AME and Computer ScienceUniversity of OklahomaNormanUSA

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