Runtime Generation of Robot Control Code from Ontology File

摘要

This paper provides an initial implementation of the novel module to transform OWL-S ontology into executable robot control code. We explore the idea of formalizing robot behavior descriptions using Semantic Web knowledge representation. The paper describes the methodology and implementation details of the robot control code generator to translate ontology file descriptions to a compilable Java code, as well as the robot control framework to execute the code at run-time. We validate our approach with the experiment, conducted on Sctios G5 robot. The task "follow the red object" is translated into a working Java code from OWL-S ontology file. The generated Java code is compiled and executed at run-time. As a result, the robot is following the person with a red folder in his hands.