Shahab Mokarizadeh ,Alberto Grosso, Mihhail Matskin, Peep Kungas, Abdul Haseeb

Royal Institute of Technology (KTH), Sweden

shahabm@kth.se

 

Using Semantic Web Service Composition for Action Planning in

Multi Robot System

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OUTLINE

Multi Robot Systems in Internet of ThingsChallenges and Motivation Action Planning ArchitectureLayers of the ArchitectureExperimentSummary

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Internet of Things

Internet of Things : Access to information services anytime, anywhere and on any device.

Objects can be labeled with RFID tags.

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Multiple Robots share tasks and help each other to accomplish a mission

Robots are operating in ”Internet of Things” environment

All Web Services are available for robots

Robot capabilities are exposed and reachable as service(s)

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Multi Robots in Internet of Things

Motivation

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Developing a Generic Architecture for Multi Robot systems operating in web of things environment such that:Both Internal (robotic) capabilities and

External (web) services could be combined seamlessly to “realize end-user goals”.

Challenges

Interoperability (communication,...) Heterogeneity (robot capability and application

system,...)Dynamicity and Changes in Robot Environment

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Solution

Web Technology Standards!SOAP (interoperable communication)WSDL ( seamless local robot service description)BPEL ( seamless composition of internal and

external services)Semantic Web Technology ( using Ontology) :

Structural and Semantic modeling of the Environment

Semantic Service Descriptions

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Multi –Robot Coordination System

1-Robot Control System (robot side) :

System to navigate, acquire, and share knowledge, and to coordinate robots behavior..

2-Service Coordination System (server side) : Handling server-side coordination and decision-making methods. Its main tasks are :a) Multi-Robot Action Planning b) Allocation of tasks to robots.

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Service Composition for Action Planning

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ROBOSWARM* Use -case

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A swarm of heterogeneous and mobile robots along with server side components cooperate together in order to achieve a high level common goals coming out from user requests.

*ROBOSWARM is an EU funded project ROBOSWARM

Action Planning Architecture

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WSDLs

Composite Service Graph

Problem Decomposition

Service Composition Engine

Workflow Engine

Perform High Level Task(input, output )

Problem Ontology

Task Allocation

Service to be allocated

Communication Layer

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Service B

ServiceA.wsdl

ServiceB.wsdlServiceC.wsdl

ServiceD.wsdl

ServiceB.wsdl

Service A

ServiceA.wsdl

Problem Ontology

Problem Decomposition

Problem Decomposition Layer

Problem Ontology

Problem Ontology: Centralized Knowledge Base (ontology +

intsances) containing knwoledge of ”Robot Environment” , ”Robotic Services” and ”External Server Side (and web) Services ”.

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Excerpt of Problem Ontology

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Service Layers in Problem Ontology

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hasWSDL

isa

isa

isa

MeasureTempertureOfRoom

hasOutputParamhasInputParam

hasInputParam

MeasureTemperature

Location Temperature

MeasureTemperatureOfRoom

Room RoomTemperature

1- Conceptual Service Description

2- Concrete Service Description

MeasureTempertureOfRoom2

hasOutputParam

MeasureTempertureOfRoom1 3- Contextual Service Description

OWL

OWL + WSDL

WSDL

Decomposition Approach

Concepts are bounded to services in which they appear either as ”input” or ”output”

Querying given input and output instances lead to discovery of potential services

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Concepts in Problem Ontology

Concepts:•Temperature of Room•Humidity of Room•Comfort Level of Room•Comfort Level of Building•Building•Room

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Services Bounded to Concepts

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Service Composition Layer

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Goal: To build a plan to fulfill the submitted goal out of given WSDLs.

Service Composition Engine

WSDLs

Plan as Directed Graph

Ontology of Concepts

Generated Composition Graph

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Workflow Layer

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BPEL Engine

Server Side Service

Robot Service Robot Service

Graph of the Plan

BPEL Script

Deploy

Translate

Task Allocation Layer

Idea: Low level Robotic System ArchitectureHandling Communication with robotsAssigning Tasks to RobotsRobot Team Configuration and Planning

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ExperimentA human operator ask to the swarm to perform a task

Video:

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SummarySemantic web service based architecture for : 1- Handling high level task planning for robotic

system

2- Filling the gap between physical robotic systems and logical information systems on the web.

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Question ?

Thanks!

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