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ABSTRACT

The goal of this Robot Ontology effort is to develop and begin to populate a neutral knowledge representation (the data structures) capturing relevant information about robots and their capabilities to assist in the development, testing, and certification of effective technologies for sensing, mobility, navigation, planning, integration and operator interaction within search and rescue robot systems. This knowledge representation must be flexible enough to adapt as the robot requirements evolve. As such, we have chosen to use an ontological approach to representing these requirements. This paper describes the Robot Ontology, how it fits in to the overall Urban Search and Rescue effort, how we will be proceeding in the future.

REFERENCES

• 1: Urban Search and Rescue Technology Needs Identification DHS/FEMA and National Institute of Justice Report, 2004.
• 2: Center for Robot Assisted Search and Rescue http://crasar.csee.usf.edu/rescuerobots/robots.htm, 2005.
• 3: Burke, J., Murphy, R., Rogers, E., Lumelsky, V., and Scholtz, J., Final Report for the DARPA/NSF Interdisciplinary Study on Human-Robot Interaction" " IEEE Transactions on Systems, Man, and Cybernetics - Part C: Applications and Reviews, Vol. 34, No. 2, 2004.
• 4: Carlson, J., Murphy, R., and Nelson, A., Follow-Up Analysis of Mobile Robot Failures" " CRASAR Technical Report - TR2004-10, 2004.
• 5: Chatterjee, R. and Matsuno, F., Robot Description Ontology and Disaster Scene Description Ontology: Analysis of Necessity and Scope in Rescue Infrastructure Context. To be published in the Proceedings of the IEEE Int. Workshop on Safety, Security, and Rescue Robotics, 2005.
• 6: Jill L. Drury , Dan Hestand , Holly A. Yanco , Jean Scholtz, Design guidelines for improved human-robot interaction, CHI '04 extended abstracts on Human factors in computing systems, April 24-29, 2004, Vienna, Austria [doi>10.1145/985921.986116]
• 7: Harmelen, F. and McGuiness, D., OWL Web Ontology Language Overview. W3C web site: http://www.w3.org/TR/2004/REC-owl-features-20040210/, 2004.
• 8: Joint Robotics Program, Mobile Robots Knowledge Base. http://robot.spawar.navy.mil, 2005.
• 9: Schlenoff, C., Washington, R., and Barbera, T., Experiences in Developing an Intelligent Ground Vehicle (IGV)
• 10: The OWL Services Coalition, OWL-S 1.0 Release" " http://www.daml.org/services/owl-s/1.0/owl-s.pdf, 2003.

INDEX TERMS

Primary Classification:
  E. Data
  E.2 DATA STORAGE REPRESENTATIONS
      Subjects: Object representation

General Terms:
Management

Keywords:
OWL, protégé, robot ontology, urban search and rescue