Robots and Systems (IROS), pp. 1359-1364, 2012 Towards an ontology for autonomous robots Paull, Liam; Severac, Gaetan; Raffo, Guilherme V.; Angel, Julian Mauricio; Boley, Harold; Durst, Phillip J.; Gray, Wendell; Habib, Maki; Nguyen, Bao; Ragavan, S. Veera; Saeedi G., Sajad; Sanz, Ricardo; Seto, Mae; Stefanovski, Aleksandar; Trentini, Michael; Li, Howard Abstract-The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems. For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles (AUVs). At the global mission level, the system ontologies must be able to model entities and relationship of multiple autonomous systems. At the individual system level, the ontologies must model the decision-making ability, control strategies, sensing abilities, map building, environment perception, motion planning, communication, autonomous behaviors and so on. The ontologies serve as a framework for working out concepts of employment with multiple vehicles for a variety of operational scenarios with emphasis on collaborative and cooperative missions.

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Abstract-In this paper, we present a middleware architecture for dependable mobile systems and an experimentation platform for its evaluation. The proposed architecture includes three building blocks tailored for mobile cooperative applications: a Proximity Map, a Trust and Cooperation Oracle, and a Cooperative Data Backup service. To illustrate our platform, we developed a Distributed Black-box application, whose aim is to record critical data while tolerating the failure of a node, and implemented a hardware evaluation platform of mobile systems for experimenting with the application. We provide here some insights on the development of the platform, focusing on wireless communication.

This paper present the ARUM robotic platform. Inspired by the needs of realism in mobile networks simulation, this platform is composed of small mobiles robots using real, but attenuated, Wi-Fi communication interfaces. To reproduce at a laboratory scale mobile systems, robots are moving in an 100 square meters area, tracked by a precise positioning system. In this document we present the rational of such simulation solution, provide its complete description, and show how it can be used for evaluation by briefly explaining how to implement specific algorithms on the computers embedded by the robots. This work is an application of multi-robotics to research, presenting solutions to important problems of multi-robotics. 1 Objectives In this paper, we present the ARUM robotic platform 1 targeted at evaluating performance, resilience and robustness of mobile systems. To obtain an efficient evaluation platform, three specific criteria were considered: Control conditions (real time monitoring, repeatability, flexibility, scalability), Effective implementation (easiness of configuration, devices autonomy, portability, low cost, miniaturization), and Realistic environment (network scale, traffic load, node mobility, positioning, radio broadcast behaviour). To our knowledge this platform is the only one to date to integrate all these features in a single environment.