Search

Search Results

• AN ONTOLOGICAL APPROACH TO THE CREATION OF ROBOTIC COMPLEXES WITH AN INCREASED DEGREE OF AUTONOMY

  S. М. Sokolov

  42-59

  2022-04-20

  Abstract ▼

  The aspects necessary for the implementation of robotic complexes with an increased degree of
  autonomy (RC with IDA) in practical work are considered. The distinctive features of such complexes,
  the needs of the corresponding intelligent information control systems (IIСS) are indicated. The requirement
  of situational awareness is highlighted and, as a consequence, the need for a diverse system
  of knowledge representation, means of perception of the external environment and comparison of operational
  information with models and a priori information about this environment. In addition, it is pointed
  out the need to automate the processes of creating RC with IDA, accessibility, and simplification of their
  use. In order to answer these questions, the paper proposes to use the concept and mechanisms of ontologies
  in relation to autonomous robotics. Examples of existing solutions in this area are given. In robotics,
  ontologies are used to define and conceptualize knowledge accepted by the community, using a
  formal description that is machine-readable, shared, and contains the flexibility to justify this knowledge
  in order to derive additional information. Ontologies are of considerable interest for multi-agent systems
  for organizing interaction between agents and with other systems in heterogeneous environments,
  the possibility of reuse and support for the development of new RCs. The author describes the construction
  of an ontology proposed by the author in such an applied field as information support for targeted
  movements of autonomous ground vehicles based on technical vision systems. All consideration is conducted
  in the configuration space of the information and control systems of the RC with IDA. This space
  allows you to aggregate a large number of different technologies used in the construction of RC. The
  embodiment of a particular system in this space corresponds to the "assembly point". The coordination
  of the forms of knowledge representation in the IICS is ensured by the consistent consideration of planes
  in this space. As a connecting link – a means for automated translation of descriptions of descriptive
  ontologies into descriptions of functional, machine-readable ontologies, the use of the language of information-
  motor actions and interpretive navigation commands is proposed. In conclusion, the shortterm
  prospects for the development of the described approach are considered, and wishes are expressed
  to the domestic community of roboticists.