Cognitive Supervision and Control of Robotic Inspection-Intervention System Using Qualitative Spatio-Temporal Representation and Reasoning

Abstract

In this paper a new concept of Mobile Spatial Assistive Intelligence (MSAI) applied for the control and supervision of web connected mobile robots is introduced. Mobile Intelligence is implemented as MSAS (Mobile Spatial Assistance System) - a mobile robot available to perform Qualitative Spatio-Temporal Representation and Reasoning (QSTRR). Taking up this subject is justified by the need of developing new methods for the control, supervision and integration of existing modules (inspection robots, autonomous robots, mobile base station). The research problem comprises the web connected mobile robots system development structure with the exemplification based on the inspection-intervention system. Using QSTRR for supervision and control of robotics system is a novel approach and I believe that this framework can decrease the cognitive load for a human operator. The main task for MSAS is to build the semantic model of the structured environment based on its observations. This semantic model is used by a qualitative reasoner - an important component of MSAI, to perform spatial entities’ supervision based on the spatial relations and the spatio-temporal events. The experiments’ results obtained using the prototype of MSAS in real indoor environment are also discussed. This approach can be used for the design of the intelligent human machine interface that can help in controlling the robot during the risky scenarios.Keywordssemantic mappingrobotic systemsupervisionqualitative representation and reasoning