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dc.contributor.authorLi, Xin
dc.contributor.authorBilbao, Sonia
dc.contributor.authorMartín-Wanton, Tamara
dc.contributor.authorBastos, Joaquim
dc.contributor.authorRodriguez, Jonathan
dc.date.accessioned2017-03-29T13:44:13Z
dc.date.available2017-03-29T13:44:13Z
dc.date.issued2017-03-11
dc.identifier.citationSensors 2017, 17(3), 569; doi:10.3390/s17030569en
dc.identifier.urihttp://hdl.handle.net/11556/382
dc.description.abstractIn order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning.en
dc.description.sponsorshipEurpean Commission, H2020, 662107en
dc.language.isoengen
dc.publisherMDPI AG, ST ALBAN-ANLAGE 66, CH-4052 BASEL, SWITZERLANDen
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.titleSWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robotsen
dc.typearticleen
dc.identifier.doi10.3390/s17030569en
dc.isiYesen
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/662107/EU/Smart and Networking UnderWAter Robots in Cooperation Meshes/SWARMSen
dc.rights.accessRightsopenAccessen
dc.subject.keywordsOntologyen
dc.subject.keywordsUncertaintyen
dc.subject.keywordsUnderwater robotsen
dc.subject.keywordsMEBNen
dc.subject.keywordsKnowledge representationen
dc.identifier.essn1424-8220en
dc.identifier.pmid28287468en
dc.issue.number3en
dc.journal.titleSENSORSen
dc.volume.number17en


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    Attribution 4.0 InternationalExcept where otherwise noted, this item's license is described as Attribution 4.0 International