SkRobot with TeleoR/QuLog: A Pseudo-Realtime Robotics Data Distribution Service Extended with Production Rules and Reasoning

Giovanni De Gasperis, Daniele Di Ottavio, Sante Facchini

2024

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 system 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.

Paper Citation

in Harvard Style

De Gasperis G., Di Ottavio D. and Facchini S. (2024). SkRobot with TeleoR/QuLog: A Pseudo-Realtime Robotics Data Distribution Service Extended with Production Rules and Reasoning. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 408-415. DOI: 10.5220/0013014900003822

in Bibtex Style

@conference{icinco24,
author={Giovanni De Gasperis and Daniele Di Ottavio and Sante Facchini},
title={SkRobot with TeleoR/QuLog: A Pseudo-Realtime Robotics Data Distribution Service Extended with Production Rules and Reasoning},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={408-415},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013014900003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - SkRobot with TeleoR/QuLog: A Pseudo-Realtime Robotics Data Distribution Service Extended with Production Rules and Reasoning
SN - 978-989-758-717-7
AU - De Gasperis G.
AU - Di Ottavio D.
AU - Facchini S.
PY - 2024
SP - 408
EP - 415
DO - 10.5220/0013014900003822
PB - SciTePress