Authors:
Elie Saad
1
;
Koen V. Hindriks
1
and
Mark A. Neerincx
2
Affiliations:
1
Delft University of Technology, Netherlands
;
2
Delft University of Technology and The Netherlands Organization for Applied Scientific Research (TNO), Netherlands
Keyword(s):
Task Management, Human Robot Collaboration, Ontology, Urban Search and Rescue.
Related
Ontology
Subjects/Areas/Topics:
Agents
;
Artificial Intelligence
;
Collaboration and e-Services
;
Cooperation and Coordination
;
e-Business
;
Enterprise Engineering
;
Enterprise Information Systems
;
Enterprise Ontologies
;
Formal Methods
;
Human-Computer Interaction
;
Intelligent User Interfaces
;
Knowledge Engineering and Ontology Development
;
Knowledge Representation and Reasoning
;
Knowledge-Based Systems
;
Ontologies
;
Robot and Multi-Robot Systems
;
Semantic Web
;
Simulation and Modeling
;
Soft Computing
;
Symbolic Systems
;
Task Planning and Execution
Abstract:
Task allocation and management is crucial for human-robot collaboration in Urban Search And Rescue
response efforts. The job of a mission team leader in managing tasks becomes complicated when adding
multiple and different types of robots to the team. Therefore, to effectively accomplish mission objectives,
shared situation awareness and task management support are essential. In this paper, we design and evaluate
an ontology which provides a common vocabulary between team members, both humans and robots. The
ontology is used for facilitating data sharing and mission execution, and providing the required automated
task management support. Relevant domain entities, tasks, and their relationships are modeled in an ontology
based on vocabulary commonly used by firemen, and a user interface is designed to provide task tracking
and monitoring. The ontology design and interface are deployed in a search and rescue system and its use is
evaluated by firemen in a task allocation and management
scenario. Results provide support that the proposed
ontology (1) facilitates information sharing during missions; (2) assists the team leader in task allocation and
management; and (3) provides automated support for managing an Urban Search and Rescue mission.
(More)