Authors:
Giovanni De Gasperis
;
Daniele Di Ottavio
and
Sante Facchini
Affiliation:
Dipartimento di Ingegneria e Scienze dell’Informazione e Matematica, Universitá degli Studi dell’Aquila, Italy
Keyword(s):
Agents, Cognitive Robotics, Distributed Systems, Middleware, Real-Time Systems, Robot Development, Framework, Robot Production Rules, Reasoning.
Abstract:
Designing and developing robots, particularly those with cognitive capabilities, is a complex task. The design platform and middleware Data Distribution Service we present in this paper, SkRobot, is meant to simplify this process. Built on the C++ SpecialK framework, it offers several functions to model robot behaviour, like active data brokering, distributed storage and processing, and pseudo-realtime synchronisation. SkRobot brings efficient communication between system entities using FlowProtocol, a custom protocol that guarantees robust typed binary data transfer over network channels. In this work the SkRobot architecture is extended and integrated with QuLog/TeleoR. QuLog (Query Language for Ontologies) and TeleoR (Teleological Reasoning) are two related technologies that enable robots to reason about their goals, actions, and the environment. QuLog is a query language that allows robots to ask questions about their knowledge base, while TeleoR is a Prolog logic reasoning syste
m that enables robots to plan and execute actions to achieve their goals. To prove the successful integration between SkRobot and Qulog/TeleoR we implemented a virtual robotics simulation involving a NAO humanoid robot performing a target retrival task.
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