sisinflab-swot / psw-robotics

Physical Semantic Web framework applied to robotics systems

psw-robotics

Physical Semantic Web (PSW) framework applied to robotics systems

Development

The proposed prototypical testbed implementing semantic-based robots consists of three basic components:

• Eddystone BLE Beacons: PSW beacons can be exposed by off-the-shelf devices or using the psw-node-eddystone-beacon project;
• Robot Platform: robots were implemented using ROS (Robot Operating System) Indigo running on a UDOO Quad board equipped with UDOObuntu 2.0 Minimal Edition OS. Robot software includes:
  • psw-node-eddystone-beacon-scanner: used to discover Eddystone PSW beacons;
  • psw-ble-libs: a Java wrapper mapping the PSW BLE beacons retrieved through Node.js to the data sctructures provided by the Physical Semantic Web Collection library;
  • psw-robotics: a Java-based runtime to manage all robot tasks;
• Simulation Environment: robot movements and the reference environment were simulated exploiting Gazebo.

License

psw-robotics and psw-ble-libs modules are distributed under the Apache License, Version 2.0.

References

If you want to refer to the PSW framework applied to robotics systems in a publication, please cite the following paper:

@InProceedings{psw-robotics,
  author       = {Michele Ruta and Floriano Scioscia and Saverio Ieva and Giuseppe Loseto and Filippo Gramegna and Agnese Pinto and Eugenio {Di Sciascio}},
  title        = {Knowledge discovery and sharing in the IoT: the Physical Semantic Web vision},
  booktitle    = {32nd ACM SIGAPP Symposium On Applied Computing},
  month        = {apr},
  year         = {2017},
  note         = {to appear}
}