Browsing by Keyword "info:eu-repo/grantAgreement/EC/H2020/662107/EU/Smart and Networking UnderWAter Robots in Cooperation Meshes/SWARMS"
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Item An Optimized, Data Distribution Service-Based Solution for Reliable Data Exchange Among Autonomous Underwater Vehicles(2017-08-05) Rodríguez-Molina, Jesús; Bilbao, Sonia; Martinez-Rodriguez, Belen; Frasheri, Mirgita; Cürüklü, Baran; Tecnalia Research & Innovation; BIGDATAMajor challenges are presented when managing a large number of heterogeneous vehicles that have to communicate underwater in order to complete a global mission in a cooperative manner. In this kind of application domain, sending data through the environment presents issues that surpass the ones found in other overwater, distributed, cyber-physical systems (i.e., low bandwidth, unreliable transport medium, data representation and hardware high heterogeneity). This manuscript presents a Publish/Subscribe-based semantic middleware solution for unreliable scenarios and vehicle interoperability across cooperative and heterogeneous autonomous vehicles. The middleware relies on different iterations of the Data Distribution Service (DDS) software standard and their combined work between autonomous maritime vehicles and a control entity. It also uses several components with different functionalities deemed as mandatory for a semantic middleware architecture oriented to maritime operations (device and service registration, context awareness, access to the application layer) where other technologies are also interweaved with middleware (wireless communications, acoustic networks). Implementation details and test results, both in a laboratory and a deployment scenario, have been provided as a way to assess the quality of the system and its satisfactory performanceItem SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots: A common information model for the cooperation of underwater robots(2017-03-11) Li, Xin; Bilbao, Sonia; Martín-Wanton, Tamara; Bastos, Joaquim; Rodriguez, Jonathan; BIGDATAIn 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.