Runtime Generation of Robot Control Code from Ontology File

  • Yuri Gavshin
  • Jevgeni Shumik
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6943)


This paper provides an initial implementation of the novel module to transform OWL-S ontology into executable robot control code. We explore the idea of formalizing robot behavior descriptions using Semantic Web knowledge representation. The paper describes the methodology and implementation details of the robot control code generator to translate ontology file descriptions to a compilable Java code, as well as the robot control framework to execute the code at run-time.

We validate our approach with the experiment, conducted on Sctios G5 robot. The task “follow the red object” is translated into a working Java code from OWL-S ontology file. The generated Java code is compiled and executed at run-time. As a result, the robot is following the person with a red folder in his hands.


Robot Control Java Code Control Code Task Program Ontology File 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Litzenberger, G.: Service robots – getting successfully established, the robot companion still a vision? (September 2010),
  2. 2.
    Ashburner, M., Ball, C., Blake, J., Botstein, D., Butler, H., Cherry, J., Davis, A., Dolinski, K., Dwight, S., Eppig, J., Harris, M., Hill, D., Issel-Tarver, L., Kasarskis, A., Lewis, S., Matese, J., Richardson, J., Ringwald, M., Rubin, G., Sherlock, G.: Gene ontology: Tool for the unification of biology. Nature Genetics 25(1), 25–29 (2000), CrossRefGoogle Scholar
  3. 3.
    Raskin, R., Pan, M.: Knowledge representation in the semantic web for earth and environmental terminology (sweet). Computers and Geosciences 31(9), 1119–1125 (2005), CrossRefGoogle Scholar
  4. 4.
    Co-ode project,
  5. 5.
    Jang, M., Sohn, J.C., Cho, Y.: Building semantic robot space based on the semantic web. In: RO-MAN 2007, pp. 499–504 (2007)Google Scholar
  6. 6.
    Katasonov, A., Terziyan, V.: Semantic agent programming language (S-APL): A middleware platform for the semantic web. In: ICSC 2008, pp. 504–511 (2008)Google Scholar
  7. 7.
    Vain, J., Tammet, T., Kuusik, A., Reilent, E.: Software architecture for swarm mobile robots. In: BEC 2008, pp. 231–234 (2008)Google Scholar
  8. 8.
    Vasiliu, L., Sakpota, B., Kim, H.G.: A semantic web services driven application on humanoid robots. In: WCCIA 2006, pp. 236–241 (2006)Google Scholar
  9. 9.
    Ha, Y.G., Sohn, J.C., Cho, Y.J.: Service-oriented integration of networked robots with ubiquitous sensors and devices using the semantic web services technology. In: IROS 2005, pp. 3947–3952 (August 2005)Google Scholar
  10. 10.
    Mokarizadeh, S., Grosso, A., Matskin, M., Kungas, P., Haseeb, A.: Applying semantic web service composition for action planning in multi-robot systems. In: ICIW 2009, pp. 370–376 (2009)Google Scholar
  11. 11.
    OWL-S: Semantic markup for web services,
  12. 12.
    Jena - a semantic web framework for java,
  13. 13.
  14. 14.
    Gerkey, B., Vaughan, R., Howard, A.: The player/stage project: Tools for multi-robot and distributed sensor systems. In: ICAR 2003, pp. 317–323 (2003)Google Scholar
  15. 15.
    Chiba, S., Nishizawa, M.: An easy-to-use toolkit for efficient java bytecode translators. In: Pfenning, F., Macko, M. (eds.) GPCE 2003. LNCS, vol. 2830, pp. 364–376. Springer, Heidelberg (2003)CrossRefGoogle Scholar
  16. 16.
    Gobin, B.A., Subramanian, R.K.: Mapping knowledge model onto java codes. In: World Academy of Science, Engineering and Technology, vol. 61, pp. 140–145 (2010)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Yuri Gavshin
    • 1
  • Jevgeni Shumik
    • 1
  1. 1.Centre for BioroboticsTallinn University of TechnologyTallinnEstonia

Personalised recommendations