Semantic knowledge-based representation for improving situation awareness in service oriented agents of autonomous underwater vehicles
Semantic knowledge-based representation for improving situation awareness in service oriented agents of autonomous underwater vehicles
复制标题
基于语义知识的表示，用于提高自主水下航行器面向服务的代理的态势感知
作者：
P. Patrón;Emilio Miguelanez;J. Cartwright;Y. Pétillot
本文提出了一个语义世界模型框架，用于自治水下系统知识的分层分布式表示。这个框架的目的是提供一个更有能力和整体的系统，涉及语义互操作性，在所有涉及的信息源。这将增强自治平台的嵌入式面向服务的代理的互操作性、操作独立性和态势感知。所获得的结果对使命灵活性、鲁棒性和自主性有特定的影响。所提出的框架利用的想法，异构现实世界中的数据非常不同的类型必须进行（并通过）几个不同的层，最终可在一个合适的格式，并在正确的地方访问的高层次的决策代理。从这个意义上说，所提出的方法显示了如何抽象远离原始的真实世界的数据一步一步的语义技术。本文最后通过展示该框架在真实的场景中的好处。在REMUS 100 AUV执行使命时，模拟了硬件故障。这触发了早期故障诊断代理和自适应使命规划嵌入式代理之间的知识交换。通过使用所提出的框架，这两个服务可以交换信息，同时保持域独立，在他们与平台的互动。本文的结果是很容易适用于陆地和空中机器人。
This paper proposes a semantic world model framework for hierarchical distributed representation of knowledge in autonomous underwater systems. This framework aims to provide a more capable and holistic system, involving semantic interoperability, among all involved information sources. This will enhance interoperability, independence of operation, and situation awareness of the embedded service-oriented agents for autonomous platforms. The results obtained specificially impact om mission flexibility robustness and autonomy. The presented framework makes use of the idea that heterogeneous real-world data of very different types must be proceed by (and run through) several different layers to be finally available in a suited format and at the right place to be acccesible by high-level decision making agents. In this sense, the presented approach shows how to abstract away from the raw real-world data step by step by means of semantic technologies. The paper concludes by demonstrating the benefits of the framework in a real scenario. A hardware fault is simulated in a REMUS 100 AUV while performing a mission. This triggers a knowledge exchange between the incipient fault diagnosis agent and the adaptive mission planner embedded agent. By using the proposed framework, both services can interchange information while remaining domain independent during their interaction with the platform. The results of this paper are readily applicable to land and air robotics.