Publication
Ontological framework for high-level task replanning for autonomous robotic systems
| datacite.subject.fos | Engenharia e Tecnologia | |
| dc.contributor.author | Bernardo, Rodrigo | |
| dc.contributor.author | Sousa, João M.C. | |
| dc.contributor.author | Gonçalves, Paulo | |
| dc.date.accessioned | 2025-12-10T12:44:42Z | |
| dc.date.available | 2025-12-10T12:44:42Z | |
| dc.date.issued | 2025 | |
| dc.description.abstract | 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. | eng |
| dc.description.sponsorship | This work is financed by national funds through FCT - Foundationfor Science and Technology, I.P., through IDMEC, under LAETA, projectUIDB/50022/2020. The work of Rodrigo Bernardo was supported bythe PhD Scholarship BD/6841/2020 from FCT. This work has indirectlyreceived funding from the European Union’s Horizon 2020 programmeunder StandICT.eu 2026 (under Grant Agreement No.: 101091933). | |
| dc.identifier.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. | |
| dc.identifier.doi | 10.1016/j.robot.2024.104861 | |
| dc.identifier.issn | 0921-8890 | |
| dc.identifier.uri | http://hdl.handle.net/10400.11/10396 | |
| dc.language.iso | eng | |
| dc.peerreviewed | yes | |
| dc.publisher | Elsevier | |
| dc.relation.ispartof | Robotics and Autonomous Systems | |
| dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | |
| dc.subject | Semantic knowledge | |
| dc.subject | Ontologies | |
| dc.subject | Autonomous robotic systems | |
| dc.subject | Replanning | |
| dc.subject | Robot control platforms | |
| dc.title | Ontological framework for high-level task replanning for autonomous robotic systems | eng |
| dc.type | research article | |
| dspace.entity.type | Publication | |
| oaire.citation.title | Robotics and Autonomous Systems | |
| oaire.citation.volume | 184 | |
| oaire.version | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |
| person.familyName | Gonçalves | |
| person.givenName | Paulo | |
| person.identifier.ciencia-id | 2816-A2FA-C5A3 | |
| person.identifier.orcid | 0000-0002-8692-7338 | |
| person.identifier.rid | E-5640-2012 | |
| person.identifier.scopus-author-id | 35853838000 | |
| relation.isAuthorOfPublication | 86a6a234-d690-4c2b-8bee-d58005eebba2 | |
| relation.isAuthorOfPublication.latestForDiscovery | 86a6a234-d690-4c2b-8bee-d58005eebba2 |