Applying Semantic Web Service Composition for Action Planning in Multi-robot Systems

In this paper we demonstrate how the Web services based solutions can be effectively utilized and integrated into robotic world. In particular, we consider robotic systems where overall control is not embedded into any of the robots and the local behavior of each robot is loosely dependent on behavior of other robots. We propose an architecture for swarm action planning based on Web services paradigm exploiting a problem ontology for service discovery, linear logic based service composition for action planning and a task allocation layer for finding the most suitable robot to perform an action. In our solution all entities in the system expose their functionalities as Web services and allow dynamic service discovery and selection.