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A novel semantic service model and an automatic service discovery method are proposed for component-based robotic and intelligent environment system. Using Semantic Web technique, a two-layered service model incorporating abstract semantic concept and concrete state-transition information is proposed by extending OWL-S. Hence the specification on the service functionality modeling of intelligent environmental nodes is established for mobile robot's service invocations. Based on the proposed model, a matching based service discovery mechanism is proposed, which applies candidate service filtering and evaluating process to achieve automatic discovery and flexible utilization of surrounding service resources in the intelligent environment. Experimental results validate the effectiveness of the proposed method.