SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots
In order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named t...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2017-03-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/17/3/569 |
| _version_ | 1828739890492211200 |
|---|---|
| author | Xin Li Sonia Bilbao Tamara Martín-Wanton Joaquim Bastos Jonathan Rodriguez |
| author_facet | Xin Li Sonia Bilbao Tamara Martín-Wanton Joaquim Bastos Jonathan Rodriguez |
| author_sort | Xin Li |
| collection | DOAJ |
| description | In order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning. |
| first_indexed | 2024-04-13T00:30:25Z |
| format | Article |
| id | doaj.art-c797e2d2f3334e789abbbc57f8aa99e5 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T00:30:25Z |
| publishDate | 2017-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-c797e2d2f3334e789abbbc57f8aa99e52022-12-22T03:10:29ZengMDPI AGSensors1424-82202017-03-0117356910.3390/s17030569s17030569SWARMs Ontology: A Common Information Model for the Cooperation of Underwater RobotsXin Li0Sonia Bilbao1Tamara Martín-Wanton2Joaquim Bastos3Jonathan Rodriguez4Research Center on Software Technologies and Multimedia Systems for Sustainability (CITSEM), Technical University of Madrid, Ctra. Valencia, Km 7, 28031 Madrid, SpainTECNALIA, Parque Tecnológico de Bizkaia, C/Geldo, Edificio 700, 48160 Bizkaia, SpainHi-iberia Ingeniería y Proyectos, C/Juan Hurtado de Mendoza 14, 28036 Madrid, SpainInstituto de Telecomunicações, Campus Universitário de Santiago, 3810-193 Aveiro, PortugalUniversidade de Aveiro, Campus Universitário de Santiago, 3810-193 Aveiro, PortugalIn order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning.http://www.mdpi.com/1424-8220/17/3/569ontologyuncertaintyunderwater robotsMEBNknowledge representation |
| spellingShingle | Xin Li Sonia Bilbao Tamara Martín-Wanton Joaquim Bastos Jonathan Rodriguez SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots Sensors ontology uncertainty underwater robots MEBN knowledge representation |
| title | SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots |
| title_full | SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots |
| title_fullStr | SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots |
| title_full_unstemmed | SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots |
| title_short | SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots |
| title_sort | swarms ontology a common information model for the cooperation of underwater robots |
| topic | ontology uncertainty underwater robots MEBN knowledge representation |
| url | http://www.mdpi.com/1424-8220/17/3/569 |
| work_keys_str_mv | AT xinli swarmsontologyacommoninformationmodelforthecooperationofunderwaterrobots AT soniabilbao swarmsontologyacommoninformationmodelforthecooperationofunderwaterrobots AT tamaramartinwanton swarmsontologyacommoninformationmodelforthecooperationofunderwaterrobots AT joaquimbastos swarmsontologyacommoninformationmodelforthecooperationofunderwaterrobots AT jonathanrodriguez swarmsontologyacommoninformationmodelforthecooperationofunderwaterrobots |