Ontology-driven dynamic discovery and distributed coordination of a robot swarm

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Abstract

Swarm robotic systems rely heavily on dynamic interactions to provide interoperability between the different autonomous robots. In current systems, interactions between robots are programmed into the applications controlling them. Incorporating service discovery into these applications allows the robots to dynamically discover other devices. However, since most of these mechanisms use syntax-based matching, the robots cannot reason about the offered functionality. Moreover, as contextual information is often not included in the matching process, it is impossible for robots to select the most suitable device under the current context. This paper aims to tackle these issues by proposing a framework for semantic service discovery in a dynamically changing environment. A semantic layer was added to an existing discovery protocol, offering a semantic interface. Using this framework, services can be searched based on what they offer, with services best suiting the current context yielding the highest matching scores. © 2012 IFIP International Federation for Information Processing.

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APA

Bouten, N., Hristoskova, A., Ongenae, F., Nelis, J., & De Turck, F. (2012). Ontology-driven dynamic discovery and distributed coordination of a robot swarm. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7279 LNCS, pp. 2–13). https://doi.org/10.1007/978-3-642-30633-4_2

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