Knowledge Base for Planning, Execution and Plan Repair

Abstract

Future robotic missions will involve numerous and heterogeneous autonomous robots. The management of these robots, in order to achieve a mission, requires interoperability, not only at low-level communication protocols and operational HMIs, but also at the decision level, to ensure a robust plan execution and repair framework. Through a formal representation of multirobot knowledge using an ontology, we show how such a model is of high interest in autonomous mission monitoring, as it provides relevant information all along the mission execution and how it helps to define communication and execution protocols from initial planning computation to plan repair in a multi-robot context.