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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.

This report provides an overview of the current state of autonomous system testing and evaluation methodologies and levels of autonomy for intelligent unmanned systems (UMSs). It is meant to be an extensive review of all past and ongoing efforts to define autonomy and set levels of autonomy for unmanned systems as related to military applications. Presented within are the current performance metrics for autonomous systems, the current standards that have been adopted for autonomous systems, and the leading frameworks for assessing levels of autonomy and autonomous mission performance. Currently, no one framework for defining UMS autonomy level has been adopted by the robotics community. This report summarizes the current research in this area and provides recommendations on the steps required to adequately define autonomy and autonomous mission performance. DISCLAIMER:The contents of this report are not to be used for advertising, publication, or promotional purposes. Citation of trade names does not constitute an official endorsement or approval of the use of such commercial products. All product names and trademarks cited are the property of their respective owners. The findings of this report are not to be construed as an official Department of the Army position unless so designated by other authorized documents.DESTROY THIS REPORT WHEN NO LONGER NEEDED. DO NOT RETURN IT TO THE ORIGINATOR.