Meta-control and Self-Awareness for the UX-1 Autonomous Underwater Robot

Conference paper (2019)

Authors

Carlos Hernández Robot Dynamics - Mechanical, Maritime and Materials Engineering
Zorana Milosevic Centre for Automation and Robotics UPM-CSIC, Madrid
Carmen Olivares Centre for Automation and Robotics UPM-CSIC, Madrid
Gonzalo Rodriguez Centre for Automation and Robotics UPM-CSIC, Madrid
Claudio Rossi Centre for Automation and Robotics UPM-CSIC, Madrid
Research Group
Robot Dynamics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2019 Carlos Hernández, Zorana Milosevic, Carmen Olivares, Gonzalo Rodriguez, Claudio Rossi
DOI
help_outline
https://doi.org/10.1007/978-3-030-35990-4_33
Autonomy Ontologies Self-adaptation Underwater robots
More Info
expand_more

Published Date

2019

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Robot Dynamics

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.