Requirements for building an ontology for autonomous robots

Behzad Bayat, Julita Bermejo-Alonso, Joel Carbonera, Tullio Facchinetti, Sandro Fiorini, Paulo Goncalves, Vitor A.M. Jorge, Maki Habib, Alaa Khamis, Kamilo Melo, Bao Nguyen, Joanna Isabelle Olszewska, Liam Paull, Edson Prestes, Veera Ragavan, Sajad Saeedi, Ricardo Sanz, Mae Seto, Bruce Spencer, Amirkhosro Vosughi & 1 others Howard Li

Research output: Contribution to journalArticle

Abstract

Purpose
IEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the autonomous robotics (AuR) subgroup. This group aims to extend the core ontology for robotics and automation to represent more specific concepts and axioms that are commonly used in autonomous robots.

Design/methodology/approach
For autonomous robots, various concepts for aerial robots, underwater robots and ground robots are described. Components of an autonomous system are defined, such as robotic platforms, actuators, sensors, control, state estimation, path planning, perception and decision-making.

Findings
AuR has identified the core concepts and domains needed to create an ontology for autonomous robots.

Practical implications
AuR targets to create a standard ontology to represent the knowledge and reasoning needed to create autonomous systems that comprise robots that can operate in the air, ground and underwater environments. The concepts in the developed ontology will endow a robot with autonomy, that is, endow robots with the ability to perform desired tasks in unstructured environments without continuous explicit human guidance.

Originality/value
Creating a standard for knowledge representation and reasoning in autonomous robotics will have a significant impact on all R&A domains, such as on the knowledge transmission among agents, including autonomous robots and humans. This tends to facilitate the communication among them and also provide reasoning capabilities involving the knowledge of all elements using the ontology. This will result in improved autonomy of autonomous systems. The autonomy will have considerable impact on how robots interact with humans. As a result, the use of robots will further benefit our society. Many tedious tasks that currently can only be performed by humans will be performed by robots, which will further improve the quality of life. To the best of the authors’ knowledge, AuR is the first group that adopts a systematic approach to develop ontologies consisting of specific concepts and axioms that are commonly used in autonomous robots.
Original languageEnglish
Pages (from-to)469-480
Number of pages12
JournalIndustrial Robot
Volume43
Issue number5
DOIs
Publication statusPublished - 15 Aug 2016
Externally publishedYes

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Ontology
Robots
Robotics
Automation
Antenna grounds
Knowledge representation
State estimation
Motion planning
Actuators
Decision making
Antennas

Cite this

Bayat, B., Bermejo-Alonso, J., Carbonera, J., Facchinetti, T., Fiorini, S., Goncalves, P., ... Li, H. (2016). Requirements for building an ontology for autonomous robots. Industrial Robot, 43(5), 469-480. https://doi.org/10.1108/IR-02-2016-0059
Bayat, Behzad ; Bermejo-Alonso, Julita ; Carbonera, Joel ; Facchinetti, Tullio ; Fiorini, Sandro ; Goncalves, Paulo ; Jorge, Vitor A.M. ; Habib, Maki ; Khamis, Alaa ; Melo, Kamilo ; Nguyen, Bao ; Olszewska, Joanna Isabelle ; Paull, Liam ; Prestes, Edson ; Ragavan, Veera ; Saeedi, Sajad ; Sanz, Ricardo ; Seto, Mae ; Spencer, Bruce ; Vosughi, Amirkhosro ; Li, Howard. / Requirements for building an ontology for autonomous robots. In: Industrial Robot. 2016 ; Vol. 43, No. 5. pp. 469-480.
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Bayat, B, Bermejo-Alonso, J, Carbonera, J, Facchinetti, T, Fiorini, S, Goncalves, P, Jorge, VAM, Habib, M, Khamis, A, Melo, K, Nguyen, B, Olszewska, JI, Paull, L, Prestes, E, Ragavan, V, Saeedi, S, Sanz, R, Seto, M, Spencer, B, Vosughi, A & Li, H 2016, 'Requirements for building an ontology for autonomous robots' Industrial Robot, vol. 43, no. 5, pp. 469-480. https://doi.org/10.1108/IR-02-2016-0059

Requirements for building an ontology for autonomous robots. / Bayat, Behzad; Bermejo-Alonso, Julita; Carbonera, Joel; Facchinetti, Tullio; Fiorini, Sandro; Goncalves, Paulo; Jorge, Vitor A.M.; Habib, Maki; Khamis, Alaa; Melo, Kamilo; Nguyen, Bao; Olszewska, Joanna Isabelle; Paull, Liam; Prestes, Edson; Ragavan, Veera; Saeedi, Sajad; Sanz, Ricardo; Seto, Mae; Spencer, Bruce; Vosughi, Amirkhosro; Li, Howard.

In: Industrial Robot, Vol. 43, No. 5, 15.08.2016, p. 469-480.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Requirements for building an ontology for autonomous robots

AU - Bayat, Behzad

AU - Bermejo-Alonso, Julita

AU - Carbonera, Joel

AU - Facchinetti, Tullio

AU - Fiorini, Sandro

AU - Goncalves, Paulo

AU - Jorge, Vitor A.M.

AU - Habib, Maki

AU - Khamis, Alaa

AU - Melo, Kamilo

AU - Nguyen, Bao

AU - Olszewska, Joanna Isabelle

AU - Paull, Liam

AU - Prestes, Edson

AU - Ragavan, Veera

AU - Saeedi, Sajad

AU - Sanz, Ricardo

AU - Seto, Mae

AU - Spencer, Bruce

AU - Vosughi, Amirkhosro

AU - Li, Howard

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N2 - PurposeIEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the autonomous robotics (AuR) subgroup. This group aims to extend the core ontology for robotics and automation to represent more specific concepts and axioms that are commonly used in autonomous robots.Design/methodology/approachFor autonomous robots, various concepts for aerial robots, underwater robots and ground robots are described. Components of an autonomous system are defined, such as robotic platforms, actuators, sensors, control, state estimation, path planning, perception and decision-making.FindingsAuR has identified the core concepts and domains needed to create an ontology for autonomous robots.Practical implicationsAuR targets to create a standard ontology to represent the knowledge and reasoning needed to create autonomous systems that comprise robots that can operate in the air, ground and underwater environments. The concepts in the developed ontology will endow a robot with autonomy, that is, endow robots with the ability to perform desired tasks in unstructured environments without continuous explicit human guidance.Originality/valueCreating a standard for knowledge representation and reasoning in autonomous robotics will have a significant impact on all R&A domains, such as on the knowledge transmission among agents, including autonomous robots and humans. This tends to facilitate the communication among them and also provide reasoning capabilities involving the knowledge of all elements using the ontology. This will result in improved autonomy of autonomous systems. The autonomy will have considerable impact on how robots interact with humans. As a result, the use of robots will further benefit our society. Many tedious tasks that currently can only be performed by humans will be performed by robots, which will further improve the quality of life. To the best of the authors’ knowledge, AuR is the first group that adopts a systematic approach to develop ontologies consisting of specific concepts and axioms that are commonly used in autonomous robots.

AB - PurposeIEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the autonomous robotics (AuR) subgroup. This group aims to extend the core ontology for robotics and automation to represent more specific concepts and axioms that are commonly used in autonomous robots.Design/methodology/approachFor autonomous robots, various concepts for aerial robots, underwater robots and ground robots are described. Components of an autonomous system are defined, such as robotic platforms, actuators, sensors, control, state estimation, path planning, perception and decision-making.FindingsAuR has identified the core concepts and domains needed to create an ontology for autonomous robots.Practical implicationsAuR targets to create a standard ontology to represent the knowledge and reasoning needed to create autonomous systems that comprise robots that can operate in the air, ground and underwater environments. The concepts in the developed ontology will endow a robot with autonomy, that is, endow robots with the ability to perform desired tasks in unstructured environments without continuous explicit human guidance.Originality/valueCreating a standard for knowledge representation and reasoning in autonomous robotics will have a significant impact on all R&A domains, such as on the knowledge transmission among agents, including autonomous robots and humans. This tends to facilitate the communication among them and also provide reasoning capabilities involving the knowledge of all elements using the ontology. This will result in improved autonomy of autonomous systems. The autonomy will have considerable impact on how robots interact with humans. As a result, the use of robots will further benefit our society. Many tedious tasks that currently can only be performed by humans will be performed by robots, which will further improve the quality of life. To the best of the authors’ knowledge, AuR is the first group that adopts a systematic approach to develop ontologies consisting of specific concepts and axioms that are commonly used in autonomous robots.

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Bayat B, Bermejo-Alonso J, Carbonera J, Facchinetti T, Fiorini S, Goncalves P et al. Requirements for building an ontology for autonomous robots. Industrial Robot. 2016 Aug 15;43(5):469-480. https://doi.org/10.1108/IR-02-2016-0059