Model-based engineering of autonomous systems using ontologies and metamodels

Abstract

Our research focuses on engineering processes for autonomous intelligent systems construction with a life-cycle holistic view, by means of a model-based framework. The conceptual core of the framework is ontologically-driven. Our ontological approach consists of two elements. The first one is a domain Ontology for Autonomous Systems (OASys) to capture the autonomous system structure, function and behaviour. The second element is an Ontology-driven Engineering Methodology (ODEM) to develop the target autonomous system. This methodology is based on Model-based Systems Engineering and produces models of the system as core assets. These models are used through the whole system life-cycle, from implementation or validation to operation and maintenance. On the application side, the ontological framework has been used to develop a metacontrol engineering technology for autonomous systems, the OM Engineering Process (OMEP), to improve their runtime adaptivity and resilience. OMEP has been applied to a mobile robot in the form of a metacontroller built on top of the robot's control architecture. It exploits a functional model of the robot (TOMASys Model) to reconfigure its control if required by the situation at runtime. The functional model is based on a metamodel about controller function and structure using concepts form the ontology. The metacontroller was developed using the ontology-driven methodology and a robot control reference architecture.