RGS$$^\oplus $$: RDF graph synchronization for collaborative robotics

Abstract

AbstractIn the context of collaborative robotics, distributed situation awareness is essential for supporting collective intelligence in teams of robots and human agents where it can be used for both individual and collective decision support. This is particularly important in applications pertaining to emergency rescue and crisis management. During operational missions, data and knowledge is gathered incrementally and in different ways by heterogeneous robots and humans. The purpose of this paper is to describe an RDF Graph Synchronization System called RGS$$^\oplus $$ ⊕ . It is assumed that a dynamic set of agents provide or retrieve knowledge stored in their local RDF Graphs which are continuously synchronized between agents. The RGS$$^\oplus $$ ⊕ System was designed to handle unreliable communication and does not rely on a static centralized infrastructure. It is capable of synchronizing knowledge as timely as possible and allows agents to access knowledge while it is incrementally acquired. A deeper empirical analysis of the RGS$$^\oplus $$ ⊕ System is provided that shows both its efficiency and efficacy.