Towards Semantic Interoperability: An Information Model for Autonomous Mobile Robots

Abstract The collaboration among autonomous mobile robots (AMRs), including unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and/or unmanned surface vehicles (USVs), significantly enhances their capabilities by enabling them to tackle more complex tasks exceeding those of individual robots. However, to fully exploit this collaboration, a common understanding of exchanged information—referred to as semantic interoperability—is crucial. Achieving semantic interoperability between these robots requires a deep understanding of relevant information and its underlying structure. To address this challenge, this paper presents a platform- and technology-independent information model developed specifically for AMRs. This model aims to facilitate collaboration by structuring information in a way that ensures semantic interoperability. The paper outlines the model's development process, beginning with a structured consolidation of information from pertinent scientific literature, resulting in a foundational framework for representing knowledge and semantics within the domain of AMRs. The practical application of the information model is demonstrated through a use case involving multiple AMRs. Additionally, the paper provides insights into the employed methodology, emphasizing the significance of systematic literature reviews and collaboration with practitioners to refine and validate the model. It also discusses theoretical and practical implications, addressing potential limitations encountered during the research.