Abstract
Emergency scenarios where chemical explosions or fire outbreaks take place become dangerous environments to send a human team to. UAVs and UGVs working together with the human rescue team can prevent endangering the human team. To perform the emergency tasks, it is necessary to define what the UAV/UGV robotic system will do in the emergency area, detailing what each of the robots will specifically carry out. Next, the different actions should be planned to perform such tasks. An ontology–based approach is described in this paper, where the cohesive element to specify the planning process is a task ontology. We describe the initial contents of our ontology for task and planning in autonomous robots, with an example of its use within an emergency scenario where a combined UAV/UGV robotic system is supposed to act.
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Acknowledgments
We acknowledge the support of the Spanish Government through grant RTC-2016-5191-8 Sistema Autónomo de VIgilancia y SEguridad basado en multirrotores (ADVISE), and grant RTC-2016-5059-8 Sistema Autónomo para La INtervención en Emergencias (SALINE).
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Bermejo-Alonso, J., Salvador, J., Sanz, R. (2018). Towards an Ontology for Task and Planning in Autonomous Systems: An Emergency Scenario. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_35
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DOI: https://doi.org/10.1007/978-3-319-70833-1_35
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