semantic web service composition for action planning
TRANSCRIPT
Shahab Mokarizadeh ,Alberto Grosso, Mihhail Matskin, Peep Kungas, Abdul Haseeb
Royal Institute of Technology (KTH), Sweden
Using Semantic Web Service Composition for Action Planning in
Multi Robot System
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OUTLINE
Multi Robot Systems in Internet of ThingsChallenges and Motivation Action Planning ArchitectureLayers of the ArchitectureExperimentSummary
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Internet of Things
Internet of Things : Access to information services anytime, anywhere and on any device.
Objects can be labeled with RFID tags.
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Multiple Robots share tasks and help each other to accomplish a mission
Robots are operating in ”Internet of Things” environment
All Web Services are available for robots
Robot capabilities are exposed and reachable as service(s)
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Multi Robots in Internet of Things
Motivation
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Developing a Generic Architecture for Multi Robot systems operating in web of things environment such that:Both Internal (robotic) capabilities and
External (web) services could be combined seamlessly to “realize end-user goals”.
Challenges
Interoperability (communication,...) Heterogeneity (robot capability and application
system,...)Dynamicity and Changes in Robot Environment
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Solution
Web Technology Standards!SOAP (interoperable communication)WSDL ( seamless local robot service description)BPEL ( seamless composition of internal and
external services)Semantic Web Technology ( using Ontology) :
Structural and Semantic modeling of the Environment
Semantic Service Descriptions
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Multi –Robot Coordination System
1-Robot Control System (robot side) :
System to navigate, acquire, and share knowledge, and to coordinate robots behavior..
2-Service Coordination System (server side) : Handling server-side coordination and decision-making methods. Its main tasks are :a) Multi-Robot Action Planning b) Allocation of tasks to robots.
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Service Composition for Action Planning
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ROBOSWARM* Use -case
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A swarm of heterogeneous and mobile robots along with server side components cooperate together in order to achieve a high level common goals coming out from user requests.
*ROBOSWARM is an EU funded project ROBOSWARM
Action Planning Architecture
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WSDLs
Composite Service Graph
Problem Decomposition
Service Composition Engine
Workflow Engine
Perform High Level Task(input, output )
Problem Ontology
Task Allocation
Service to be allocated
Communication Layer
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Service B
ServiceA.wsdl
ServiceB.wsdlServiceC.wsdl
ServiceD.wsdl
ServiceB.wsdl
Service A
ServiceA.wsdl
Problem Ontology
Problem Decomposition
Problem Decomposition Layer
Problem Ontology
Problem Ontology: Centralized Knowledge Base (ontology +
intsances) containing knwoledge of ”Robot Environment” , ”Robotic Services” and ”External Server Side (and web) Services ”.
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Excerpt of Problem Ontology
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Service Layers in Problem Ontology
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hasWSDL
isa
isa
isa
MeasureTempertureOfRoom
hasOutputParamhasInputParam
hasInputParam
MeasureTemperature
Location Temperature
MeasureTemperatureOfRoom
Room RoomTemperature
1- Conceptual Service Description
2- Concrete Service Description
MeasureTempertureOfRoom2
hasOutputParam
MeasureTempertureOfRoom1 3- Contextual Service Description
OWL
OWL + WSDL
WSDL
Decomposition Approach
Concepts are bounded to services in which they appear either as ”input” or ”output”
Querying given input and output instances lead to discovery of potential services
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Concepts in Problem Ontology
Concepts:•Temperature of Room•Humidity of Room•Comfort Level of Room•Comfort Level of Building•Building•Room
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Services Bounded to Concepts
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Service Composition Layer
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Goal: To build a plan to fulfill the submitted goal out of given WSDLs.
Service Composition Engine
WSDLs
Plan as Directed Graph
Ontology of Concepts
Generated Composition Graph
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Workflow Layer
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BPEL Engine
Server Side Service
Robot Service Robot Service
Graph of the Plan
BPEL Script
Deploy
Translate
Task Allocation Layer
Idea: Low level Robotic System ArchitectureHandling Communication with robotsAssigning Tasks to RobotsRobot Team Configuration and Planning
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ExperimentA human operator ask to the swarm to perform a task
Video:
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SummarySemantic web service based architecture for : 1- Handling high level task planning for robotic
system
2- Filling the gap between physical robotic systems and logical information systems on the web.
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Question ?
Thanks!
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