Bernardo, RodrigoSousa, João M.C.Gonçalves, Paulo2025-12-102025-12-102025BERNARDO, 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.2024.104861.0921-8890http://hdl.handle.net/10400.11/10396Several 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.engSemantic knowledgeOntologiesAutonomous robotic systemsReplanningRobot control platformsresearch article10.1016/j.robot.2024.104861