BE-AWARE: an ontology-based adaptive robotic manipulation framework

Autonomous service robots are conceived to work in semi-structured and complex human environments performing a wide range of tasks and, hence, one of their main challenges is to be able to adapt the stages of the perceive-plan-execute cycle to perturbations ranging from small deviations on the poses of objects to large unexpected changes in the environment, as well as to recover from potential failures. To advance in this direction, this paper proposes an ontology-based manipulation framework where reasoning is used to enhance perception with situation awareness, planning with domain awareness and execution with the awareness of the execution structures. The combination of these different types of awareness allows the robot to have different adaptation capabilities. The conceptual schema of the framework is presented and discussed and the main future implementation challenges are pointed out.