Control Architecture Concepts and Properties of an Ontology Devoted to Exchanges in Mobile Robotics

Saadia Dhouib 1, * Nicolas Du Lac 2 Jean-Loup Farges 3 Sébastien Gerard 1, * Miniar Hemaissia-Jeannin 4 Juan Lahera-Perez 5 Stéphane Millet 6 Bruno Patin 6 Serge Stinckwich 7, 8
* Corresponding author
1 LIST - Laboratoire d'Intégration des Systèmes et des Technologies
2 Intempora SA
3 ONERA - The French Aerospace Lab [Meudon]
4 Thales Research and Technology [Palaiseau]
5 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
6 DGT/DPR/DESA
7 Equipe MAD - Laboratoire GREYC - UMR6072
GREYC - Groupe de Recherche en Informatique, Image, Automatique et Instrumentation de Caen
8 MSI - Modélisation et Simulation Informatique de systèmes complexes
Abstract : A specific ontology is proposed in the scope of the development of a platform devoted to exchanges between academics and industrials of the robotic domain. This paper presents the tools used for knowledge elicitation, the concepts and properties linked with control architecture, the use of the resulting ontology for description of some scenarios and the tracks for the development of a domain specific language grounded on the ontology. Knowledge elicitation is performed in web ontology language thanks to Protégé ontology editor. The ontology is structured as a set of modules organized around a kernel. Modules addressing systems, information, robot and mission include concepts and properties for control architecture description. The expressivity of the ontology is demonstrated describing architectures for a set of scenarios; urban robotic scenario, air-ground scenario, landmark search scenario and military unmanned aerial vehicles scenario. Finally some tracks for the use of the ontology for developing a domain specific language are given.
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Submitted on : Friday, June 10, 2011 - 4:08:46 PM
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CAR-2011 | CNRS | INRIA | ONERA | GREYC-MAD | GREYC | UGA | COMUE-NORMANDIE | CEA | DRT | LIST | ENSICAEN | UNICAEN | LIG | LIG_SIC_E-MOTION

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Saadia Dhouib, Nicolas Du Lac, Jean-Loup Farges, Sébastien Gerard, Miniar Hemaissia-Jeannin, et al.. Control Architecture Concepts and Properties of an Ontology Devoted to Exchanges in Mobile Robotics. 6th National Conference on Control Architectures of Robots, INRIA Grenoble Rhône-Alpes, May 2011, Grenoble, France. 24 p. ⟨inria-00599694⟩

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