Physical Semantic Web (PSW) framework applied to robotics systems
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.
psw-robotics and psw-ble-libs modules are distributed under the Apache License, Version 2.0.
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}
}