Projekter pr. år
Abstract
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). The implementation of adaptable architectures is very often ad hoc, quickly gets cumbersome and expensive. Reusable solutions that support complex, runtime reasoning for robot adaptation have been seen in the adoption of ontologies. While the usage of ontologies significantly increases system reuse and maintainability, it requires additional effort from the application developers to translate requirements into formal rules that can be used by an ontological reasoner. In this paper, we present a design tool that facilitates the specification of reconfigurable robot skills. Based on the specified skills, we generate corresponding runtime models for self-adaptation that can be directly deployed to a running robot that uses a reasoning approach based on ontologies. We demonstrate the applicability of the tool in a real robot performing a patrolling mission at a university campus.
Originalsprog | Engelsk |
---|---|
Tidsskrift | 2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) |
Sider (fra-til) | 25-28 |
DOI | |
Status | Udgivet - 2021 |
Emneord
- self adaptive systems
- autonomous robots
- domain specific language
- ontologies
- ROS2 tool
Fingeraftryk
Dyk ned i forskningsemnerne om 'A Modeling Tool for Reconfigurable Skills in ROS'. Sammen danner de et unikt fingeraftryk.Projekter
- 1 Afsluttet
-
ROSIN: ROS-Industrial quality-assured robot software components
Wasowski, A. (PI), Brabrand, C. (CoI), Dittrich, Y. (CoI), Alami, A. (CoI) & Fu, Z. (CoI)
01/01/2017 → 31/12/2020
Projekter: Projekt › Forskning