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

Conference Paper (2019)
Author(s)

Carlos Hernández Hernández Corbato (TU Delft - Robot Dynamics)

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
Copyright
© 2019 Carlos Hernández, Zorana Milosevic, Carmen Olivares, Gonzalo Rodriguez, Claudio Rossi
DOI related publication
https://doi.org/10.1007/978-3-030-35990-4_33
More Info
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Publication Year
2019
Language
English
Copyright
© 2019 Carlos Hernández, Zorana Milosevic, Carmen Olivares, Gonzalo Rodriguez, Claudio Rossi
Research Group
Robot Dynamics
Bibliographical Note
Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.@en
Pages (from-to)
404-415
ISBN (print)
978-3-030-35989-8
ISBN (electronic)
978-3-030-35990-4
Reuse Rights

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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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