Context-Based Coalition Creation in Human-Robot Systems: Approach and Case Study
The paper presents a context-based approach to coalition creation in human-robot cyber-physical systems. Cyber-physical systems tightly integrate physical and information spaces based on interactions between these spaces in real time. Mobile robots and humans are exchange information with each other in information space while their physical interaction occurs in physical space. The information space is organized based on Smart-M3 platform. This platform allows to organize ontology-based information and knowledge sharing for various participants based on publication subscription mechanism. For semantic interoperability support the ontology is used for problem domain modelling. The ontology formally represents knowledge as a set of concepts within a domain, using a shared vocabulary to denote the types, properties, and interrelationships of those concepts. For the implementation the point exploring and obstacles overcoming scenario has been chosen and implemented. This scenario covers two base cases for coalition creation: robot-robot and robot-human. Mobile robots have been constructed based on Lego Mindstorms EV3 Kit.
KeywordsCollaborative robotics Coalitions Human-robot interaction Interoperability Ontologies Context management
The presented results are part of the research carried out within the project funded by grants # 16-07-00462, 16-29-04349, 17-07-00247 of the Russian Foundation for Basic Research, program I.31 of the Russian Academy of Sciences. The work has been partially financially supported by Government of Russian Federation, Grant 074-U01.
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