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Semantically Grounded Stream Reasoning Integrated with ROS
2013 (English)In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE conference proceedings, 2013Konferensbidrag (Refereed)
Abstract [en]

High level reasoning is becoming essential to autonomous systems such as robots. Both the information available to and the reasoning required for such autonomous systems is fundamentally incremental in nature. A stream is a flow of incrementally available  information and reasoning over streams is called stream reasoning.  Incremental reasoning over streaming information is  necessary to support a number of important robotics functionalities such as situation awareness, execution monitoring, and decision making.

This paper presents a practical framework for semantically grounded temporal stream reasoning called DyKnow.  Incremental reasoning over  streams is achieved through efficient progression of temporal logical formulas. The reasoning is semantically grounded through a common ontology and a specification of the semantic content of streams relative to the ontology.  This allows the finding of relevant streams through semantic matching. By using semantic mappings between ontologies it is also possible to do semantic matching over multiple ontologies. The complete stream reasoning framework is integrated in the Robot  Operating System (ROS) thereby extending it with a stream reasoning capability.

Series
IEEE conference proceedings,
National Category
Computer Science
Identifiers
urn:nbn:se:liu:diva-95897 (URN)000331367406001 (ISI)oai:DiVA.org:liu-95897 (OAI)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 3-8, 2013 Tokyo, Japan
Projects
CADICSCENIITeLLITCUASNFFP5
Funder
eLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Available from2013-08-07 Created:2013-08-07 Last updated:2014-04-14Bibliographically approved

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Heintz, Fredrik
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KPLAB - Knowledge Processing LabThe Institute of Technology
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