Multirobot system architecture: environment representation and protocols

Ambroszkiewicz, Stanislaw; Bartyna, Waldemar; Faderewski, Marek; Terlikowski, Grzegorz

doi:10.2478/v10175-010-0001-y

Cited by 8 publications

(5 citation statements)

References 12 publications

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“…Blackboards can also be utilised by the communication inter-subsystem layer, that has not been discussed here, but is presented in [85]. Service Oriented Architecture (SOA) fosters another approach presenting devices as a collection of capabilities which are exposed as services [3]. Those capabilities can be represented as behaviours of the control subsystem of a device, including a robot.…”

Section: Related Work and Discussionmentioning

confidence: 99%

Bulletin of the Polish Academy of Sciences: Technical Sciences

Kornuta¹,

Zieliński²,

Winiarski³

2020

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The paper presents a universal architectural pattern and an associated specification method that can be applied in the design of robot control systems. The approach describes the system in terms of embodied agents and proposes a multi-step decomposition enabling precise definition of their inner structure and operation. An embodied agent is decomposed into effectors, receptors, both real and virtual, and a control subsystem. Those entities communicate through communication buffers. The activities of those entities are governed by FSMs that invoke behaviours formulated in terms of transition functions taking as arguments the contents of input buffers and producing the values inserted into output buffers. The method is exemplified by applying it to the design of a control system of a robot executing one of the most important tasks for a service robot, i.e. picking up, by a position-force controlled robot, an object located using an RGB-D image acquired from a Kinect. Moreover in order to substantiate the universality of the presented approach we present how classical, known from the literature, robotic architectures can be expressed as systems composed of one or more embodied agents.

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Section: Related Work and Discussionmentioning

confidence: 99%

Bulletin of the Polish Academy of Sciences: Technical Sciences

Kornuta¹,

Zieliński²,

Winiarski³

2020

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“…Ontologies are also representations of knowledge, but they are by definition white-box: all the represented knowledge is explicit. Their applications are widespread and they are used, e.g., to convey domain-specific information in multi-agent systems [1], in competence management systems for education [2,3], or to represent the domain of interest for a robotic system [4]. Unfortunately, the process of constructing an ontology is labor-intensive and means of supporting the responsible person, i.e., the ontology engineer, are needed.…”

Section: Introductionmentioning

confidence: 99%

Bulletin of the Polish Academy of Sciences: Technical Sciences

Potoniec

2020

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We propose an approach to indirectly learn the Web Ontology Language OWL 2 property characteristics as an explanation for a deep recurrent neural network (RNN). The input is a knowledge graph represented in Resource Description Framework (RDF) and the output are scored axioms representing the characteristics. The proposed method is capable of learning all the characteristics included in OWL 2: functional, inverse functional, reflexive and irreflexive, symmetric and asymmetric, transitive. We report and discuss experimental evaluation on DBpedia 2016-10, showing that the proposed approach has advantages over a simple counting baseline.

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“…An elementary type has no internal structure (so is de ined only by a set of attributes), and a complex type has such a structure. Ontology is de ined as a hierarchical collection of types of objects (see [1]). Primary attributes and primary relations are the key elements of which object types are constructed.…”

Section: Introduc Onmentioning

confidence: 99%

Architecture of an Autonomous Robot at the IT Level

Ambroszkiewicz¹,

Bartyna²,

Skarzynski³

et al. 2015

JAMRIS

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The paper proposes an architecture for a control system of an autonomous robot as well as an architecture for a mul -robot system in which the robots cooperate in order to accomplish client's tasks. The solu on is based on the SOA paradigm and an ontology as a way of represen ng an environment, and is specified at the Informaon Technology level. This approach is focused on intui ve coopera on with a human and automa on of a task execu on, as well as automa on of handling excep ons and changes in the environment. For the purpose of the test scenarios, a sample ontology was created, which allows the human user to define tasks to be performed by a robot. Addi onally, a simula on environment was designed and implemented in Unity. It allows for automa c genera on of the visual representa on of informa on defined in the ontology, and for tes ng the effec veness of the proposed architecture in different types of scenarios with variable sets of services (devices).

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Multirobot system architecture: environment representation and protocols

Cited by 8 publications

References 12 publications

Bulletin of the Polish Academy of Sciences: Technical Sciences

Bulletin of the Polish Academy of Sciences: Technical Sciences

Bulletin of the Polish Academy of Sciences: Technical Sciences

Architecture of an Autonomous Robot at the IT Level

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