Ontological framework for high-level task replanning for autonomous robotic systems

Bernardo, Rodrigo; Sousa, João M.C.; Gonçalves, Paulo

http://hdl.handle.net/10400.11/10396

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Authors

Bernardo, Rodrigo

Sousa, João M.C.

Gonçalves, Paulo

Abstract(s)

Several frameworks for robot control platforms have been developed in recent years. However, strategies that incorporate automatic replanning have to be explored, which is a requirement for Autonomous Robotic Systems (ARS) to be widely adopted. Ontologies can play an essential role by providing a structured representation of knowledge. This paper proposes a new framework capable of replanning high-level tasks in failure situations for ARSs. The framework utilizes an ontology-based reasoning engine to overcome constraints and execute tasks through Behavior Trees (BTs). The proposed framework was implemented and validated in a real experimental environment using an Autonomous Mobile Robot (AMR) sharing a plan with a human operator. The proposed framework uses semantic reasoning in the planning system, offering a promising solution to improve the adaptability and efficiency of ARSs.

Keywords

Semantic knowledge Ontologies Autonomous robotic systems Replanning Robot control platforms

URI

http://hdl.handle.net/10400.11/10396

Citation

BERNARDO, Rodrigo ; SOUSA, João M.C. ; GOÇALVES, Paulo J.S. (2025) - Ontological framework for high-level task replanning for autonomous robotic systems. Robotics and Autonomous Systems. Vol. 184, p. 104861. DOI: 10.1016/j.robot.2024.104861.