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Towards Adaptive Semantic Subscriptions for Stream Reasoning in the Robot Operating System
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. (KPLAB - Knowledge Processing Lab)ORCID iD: 0000-0001-6356-045X
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. (KPLAB - Knowledge Processing Lab)
2017 (English)In: Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE conference proceedings, 2017, 5445-5452 p.Conference paper, Published paper (Refereed)
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).

Place, publisher, year, edition, pages
IEEE conference proceedings, 2017. 5445-5452 p.
Keyword [en]
stream reasoning framework, middleware, reconfiguration, robotics
National Category
Computer Science
Identifiers
URN: urn:nbn:se:liu:diva-139446ISBN: 9781538626818 (electronic)OAI: oai:DiVA.org:liu-139446DiVA: diva2:1127980
Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, 24-28 September, 2017
Projects
CUGSNFFP6CUASCADICSELLIIT
Funder
CUGS (National Graduate School in Computer Science)Linnaeus research environment CADICSELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Available from: 2017-07-20 Created: 2017-07-20 Last updated: 2017-10-09

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf