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Towards Adaptive Semantic Subscriptions for Stream Reasoning in the Robot Operating System
Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten.
Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten.
2017 (engelsk)Inngår i: 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE , 2017, s. 5445-5452Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Modern robotic systems often consist of a growing set of information-producing components that need to be appropriately connected for the system to function properly. This is commonly done manually or through relatively simple scripts by specifying explicitly which components to connect. However, this process is cumbersome and error-prone, does not scale well as more components are introduced, and lacks flexibility and robustness at run-time. This paper presents an algorithm for setting up and maintaining implicit subscriptions to information through its semantics rather than its source, which we call semantic subscriptions. The proposed algorithm automatically reconfigures the system when necessary in response to changes at run-time, making the semantic subscriptions adaptive to changing circumstances. To illustrate the effectiveness of adaptive semantic subscriptions, we present a case study with two SoftBank Robotics NAO robots for handling the cases when a component stops working and when new components, in this case a second robot, become available. The solution has been implemented as part of a stream reasoning framework integrated with the Robot Operating System (ROS).

sted, utgiver, år, opplag, sider
IEEE , 2017. s. 5445-5452
Serie
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-147198DOI: 10.1109/IROS.2017.8206440ISI: 000426978205034ISBN: 978-1-5386-2682-5 (tryckt)OAI: oai:DiVA.org:liu-147198DiVA, id: diva2:1197328
Konferanse
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Merknad

Funding Agencies|National Graduate School in Computer Science, Sweden (CUGS); Swedish Aeronautics Research Council [NFFP6]; Swedish Foundation for Strategic Research (SSF) project CUAS; Swedish Research Council (VR) Linnaeus Center CADICS; ELLIIT Excellence Center at Linkoping-Lund for Information Technology

Tilgjengelig fra: 2018-04-12 Laget: 2018-04-12 Sist oppdatert: 2018-04-12

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Totalt: 203 treff
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  • sv-SE
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