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IFIP International Conference on Autonomous Infrastructure, Management and Security

AIMS 2012: Dependable Networks and Services pp 2–13Cite as

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Ontology-Driven Dynamic Discovery and Distributed Coordination of a Robot Swarm

Ontology-Driven Dynamic Discovery and Distributed Coordination of a Robot Swarm

  • Niels Bouten20,
  • Anna Hristoskova20,
  • Femke Ongenae20,
  • Jelle Nelis20 &
  • …
  • Filip De Turck20 
  • Conference paper
  • 1097 Accesses

  • 3 Citations

Part of the Lecture Notes in Computer Science book series (LNCCN,volume 7279)

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.

Keywords

  • Service Discovery
  • Semantics
  • Context-awareness
  • Distri- buted Planning
  • Swarm Robotics

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Author information

Authors and Affiliations

  1. Department of Information Technology - IBBT, Ghent University, Gaston Crommenlaan 8/201, B-9050, Ghent, Belgium

    Niels Bouten, Anna Hristoskova, Femke Ongenae, Jelle Nelis & Filip De Turck

Authors
  1. Niels Bouten
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  2. Anna Hristoskova
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  3. Femke Ongenae
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  4. Jelle Nelis
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  5. Filip De Turck
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Editor information

Editors and Affiliations

  1. Faculty of Electrical Engineering, Mathematics, and Computer Science, University of Twente, P.O. Box 217, 7500 AE, Enschede, The Netherlands

    Ramin Sadre

  2. Institute of Computer Science, Masaryk University, Botanická 68a, 602 00, Brno, Czech Republic

    Jiří Novotný & Pavel Čeleda & 

  3. Institut für Informatik (IFI), Universität Zürich, Binzmühlestraße 14, 8050, Zürich, Switzerland

    Martin Waldburger

  4. Institut für Informatik (IFI), Universität Zürich, Binzmühlestrasse 14, 8050, Zürich, Switzerland

    Burkhard Stiller

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© 2012 IFIP International Federation for Information Processing

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Cite this paper

Bouten, N., Hristoskova, A., Ongenae, F., Nelis, J., De Turck, F. (2012). Ontology-Driven Dynamic Discovery and Distributed Coordination of a Robot Swarm. In: Sadre, R., Novotný, J., Čeleda, P., Waldburger, M., Stiller, B. (eds) Dependable Networks and Services. AIMS 2012. Lecture Notes in Computer Science, vol 7279. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-30633-4_2

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  • DOI: https://doi.org/10.1007/978-3-642-30633-4_2

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  • Print ISBN: 978-3-642-30632-7

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