{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,6,6]],"date-time":"2024-06-06T11:22:02Z","timestamp":1717672922699},"reference-count":31,"publisher":"Walter de Gruyter GmbH","issue":"2","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,2,23]]},"abstract":"Abstract<\/jats:title>\n Teams of heterogeneous autonomous robots become increasingly important due to their facilitation of various complex tasks. For such heterogeneous robots, there is currently no consistent way of describing the functions that each robot provides. In the field of manufacturing, capability and skill modeling is considered a promising approach to semantically model functions provided by different machines. This contribution investigates how to apply and extend capability models from manufacturing to the field of autonomous robots and presents an approach for such a capability model.<\/jats:p>","DOI":"10.1515\/auto-2022-0122","type":"journal-article","created":{"date-parts":[[2023,2,7]],"date-time":"2023-02-07T09:41:57Z","timestamp":1675762917000},"page":"140-150","source":"Crossref","is-referenced-by-count":6,"title":["A capability and skill model for heterogeneous autonomous robots"],"prefix":"10.1515","volume":"71","author":[{"given":"Luis Miguel","family":"Vieira da Silva","sequence":"first","affiliation":[{"name":"Institute of Automation, Helmut-Schmidt-University Hamburg , Hamburg , Germany"}]},{"given":"Aljosha","family":"K\u00f6cher","sequence":"additional","affiliation":[{"name":"Institute of Automation, Helmut-Schmidt-University Hamburg , Hamburg , Germany"}]},{"given":"Alexander","family":"Fay","sequence":"additional","affiliation":[{"name":"Institute of Automation, Helmut-Schmidt-University Hamburg , Hamburg , Germany"}]}],"member":"374","published-online":{"date-parts":[[2023,2,8]]},"reference":[{"key":"2023033111242708062_j_auto-2022-0122_ref_001","doi-asserted-by":"crossref","unstructured":"M. B. Alatise and G. P. Hancke, \u201cA review on challenges of autonomous mobile robot and sensor fusion methods,\u201d IEEE Access, vol.\u00a08, pp.\u00a039830\u201339846, 2020. https:\/\/doi.org\/10.1109\/access.2020.2975643.","DOI":"10.1109\/ACCESS.2020.2975643"},{"key":"2023033111242708062_j_auto-2022-0122_ref_002","doi-asserted-by":"crossref","unstructured":"Y. Rizk, M. Awad, and E. W. Tunstel, \u201cCooperative heterogeneous multi-robot systems,\u201d ACM Comput. Surv., vol.\u00a052, no.\u00a02, pp.\u00a01\u201331, 2020. https:\/\/doi.org\/10.1145\/3303848.","DOI":"10.1145\/3303848"},{"key":"2023033111242708062_j_auto-2022-0122_ref_003","doi-asserted-by":"crossref","unstructured":"E. Tuci, M. H. M. Alkilabi, and O. Akanyeti, \u201cCooperative object transport in multi-robot systems: a review of the state-of-the-art,\u201d Front. Robot. AI, vol.\u00a05, p.\u00a059, 2018. https:\/\/doi.org\/10.3389\/frobt.2018.00059.","DOI":"10.3389\/frobt.2018.00059"},{"key":"2023033111242708062_j_auto-2022-0122_ref_004","unstructured":"IEEE, IEEE 1872: Standard Ontologies for Robotics and Automation, Piscataway, NJ, USA, 2015."},{"key":"2023033111242708062_j_auto-2022-0122_ref_005","doi-asserted-by":"crossref","unstructured":"B. Bayat, J. Bermejo-Alonso, J. Carbonera, et al.., \u201cRequirements for building an ontology for autonomous robots,\u201d Ind. Robot, vol. 43, no. 5, pp. 469\u2013480, 2016. https:\/\/doi.org\/10.1108\/ir-02-2016-0059.","DOI":"10.1108\/IR-02-2016-0059"},{"key":"2023033111242708062_j_auto-2022-0122_ref_006","unstructured":"K. Meixner, S. Schmitt, and F. Spitzer et al.., \u201cCapabilities and skills in manufacturing: a survey over the last decade of ETFA,\u201d in 2022 27th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2022. [Online]. Available: https:\/\/arxiv.org\/pdf\/2204.12908"},{"key":"2023033111242708062_j_auto-2022-0122_ref_007","doi-asserted-by":"crossref","unstructured":"C. Hildebrandt, A. K\u00f6cher, C. K\u00fcstner, et al.., \u201cOntology building for cyber\u2013physical systems: application in the manufacturing domain,\u201d IEEE Trans. Autom. Sci. Eng., vol. 17, no. 3, pp. 1266\u20131282, 2020. https:\/\/doi.org\/10.1109\/tase.2020.2991777.","DOI":"10.1109\/TASE.2020.2991777"},{"key":"2023033111242708062_j_auto-2022-0122_ref_008","doi-asserted-by":"crossref","unstructured":"A. K\u00f6cher, C. Hildebrandt, L. M. Vieira da Silva, and A. Fay, \u201cA formal capability and skill model for use in Plug and Produce scenarios,\u201d in 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), IEEE, 2020, pp. 1663\u20131670.","DOI":"10.1109\/ETFA46521.2020.9211874"},{"key":"2023033111242708062_j_auto-2022-0122_ref_009","doi-asserted-by":"crossref","unstructured":"A. Olivares-Alarcos, D. Be\u00dfler, A. Khamis, et al.., \u201cA review and comparison of ontology-based approaches to robot autonomy,\u201d Knowl. Eng. Rev., vol. 34, pp. 1\u201338, 2019. https:\/\/doi.org\/10.1017\/s0269888919000237.","DOI":"10.1017\/S0269888919000237"},{"key":"2023033111242708062_j_auto-2022-0122_ref_010","doi-asserted-by":"crossref","unstructured":"R. Studer, V. Benjamins, and D. Fensel, \u201cKnowledge engineering: principles and methods,\u201d Data Knowl. Eng., vol.\u00a025, nos 1\u20132, pp.\u00a0161\u2013197, 1998. https:\/\/doi.org\/10.1016\/s0169-023x(97)00056-6.","DOI":"10.1016\/S0169-023X(97)00056-6"},{"key":"2023033111242708062_j_auto-2022-0122_ref_011","doi-asserted-by":"crossref","unstructured":"N. Guarino, D. Oberle, and S. Staab, \u201cWhat is an ontology?\u201d in Handbook on Ontologies, S. Staab, and R. Studer, Eds., Berlin, Heidelberg, Springer, 2009, pp.\u00a01\u201317.","DOI":"10.1007\/978-3-540-92673-3_0"},{"key":"2023033111242708062_j_auto-2022-0122_ref_012","unstructured":"IEEE, IEEE 1872.2: Standard for Autonomous Robotics (AuR) Ontology, Piscataway, NJ, USA, 2021."},{"key":"2023033111242708062_j_auto-2022-0122_ref_013","doi-asserted-by":"crossref","unstructured":"S. Malakuti, J. Bock, M. Weser, et al.., \u201cChallenges in skill-based engineering of industrial automation systems*,\u201d in 2018 IEEE 23rd International Conference on Emerging Technologies and Factory Automation (ETFA), Piscataway, NJ, IEEE, 2018, pp. 67\u201374.","DOI":"10.1109\/ETFA.2018.8502635"},{"key":"2023033111242708062_j_auto-2022-0122_ref_014","doi-asserted-by":"crossref","unstructured":"M. Tenorth and M. Beetz, \u201cKNOWROB\u2014knowledge processing for autonomous personal robots,\u201d in 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ, IEEE, 2009, pp.\u00a04261\u20134266.","DOI":"10.1109\/IROS.2009.5354602"},{"key":"2023033111242708062_j_auto-2022-0122_ref_015","doi-asserted-by":"crossref","unstructured":"M. Tenorth and M. Beetz, \u201cRepresentations for robot knowledge in the KnowRob framework,\u201d Artif. Intell., vol.\u00a0247, pp.\u00a0151\u2013169, 2017. https:\/\/doi.org\/10.1016\/j.artint.2015.05.010.","DOI":"10.1016\/j.artint.2015.05.010"},{"key":"2023033111242708062_j_auto-2022-0122_ref_016","doi-asserted-by":"crossref","unstructured":"M. Stenmark and J. Malec, \u201cKnowledge-based instruction of manipulation tasks for industrial robotics,\u201d Robot. Comput. Integrated Manuf., vol.\u00a033, pp.\u00a056\u201367, 2015. https:\/\/doi.org\/10.1016\/j.rcim.2014.07.004.","DOI":"10.1016\/j.rcim.2014.07.004"},{"key":"2023033111242708062_j_auto-2022-0122_ref_017","doi-asserted-by":"crossref","unstructured":"I. Niles and A. Pease, \u201cTowards a standard upper ontology,\u201d in Proceedings of the International Conference on Formal Ontology in Information Systems \u2013 Volume 2001, Ser. ACM Conferences, N. Guarino, Ed., New York, NY, ACM, 2001, pp.\u00a02\u20139.","DOI":"10.1145\/505168.505170"},{"key":"2023033111242708062_j_auto-2022-0122_ref_018","doi-asserted-by":"crossref","unstructured":"S. R. Fiorini, J. L. Carbonera, P. Gon\u00e7alves, et al.., \u201cExtensions to the core ontology for robotics and automation,\u201d Robot. Comput. Integrated Manuf., vol. 33, pp. 3\u201311, 2015. https:\/\/doi.org\/10.1016\/j.rcim.2014.08.004.","DOI":"10.1016\/j.rcim.2014.08.004"},{"key":"2023033111242708062_j_auto-2022-0122_ref_019","doi-asserted-by":"crossref","unstructured":"A. K\u00f6cher, A. Belyaev, J. Hermann, et al.., \u201cA reference model for common understanding of capabilities and skills in manufacturing,\u201d Automatisierungstechnik, 2023, In this issue.","DOI":"10.1515\/auto-2022-0117"},{"key":"2023033111242708062_j_auto-2022-0122_ref_020","doi-asserted-by":"crossref","unstructured":"F. Ameri and D. Dutta, \u201cAn upper ontology for manufacturing service description,\u201d in Volume 3: 26th Computers and Information in Engineering Conference, 2006, pp.\u00a0651\u2013661.","DOI":"10.1115\/DETC2006-99600"},{"key":"2023033111242708062_j_auto-2022-0122_ref_021","doi-asserted-by":"crossref","unstructured":"E. J\u00e4rvenp\u00e4\u00e4, N. Siltala, and M. Lanz, \u201cFormal resource and capability descriptions supporting rapid reconfiguration of assembly systems,\u201d in 2016 IEEE International Symposium on Assembly and Manufacturing (ISAM), 2016, pp.\u00a0120\u2013125.","DOI":"10.1109\/ISAM.2016.7750724"},{"key":"2023033111242708062_j_auto-2022-0122_ref_022","doi-asserted-by":"crossref","unstructured":"M. Weser, J. Bock, S. Schmitt, A. Perzylo, and K. Evers, \u201cAn ontology-based metamodel for capability descriptions,\u201d in 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), IEEE, 2020, pp. 1679\u20131686.","DOI":"10.1109\/ETFA46521.2020.9212104"},{"key":"2023033111242708062_j_auto-2022-0122_ref_023","doi-asserted-by":"crossref","unstructured":"J. Backhaus and G. Reinhart, \u201cDigital description of products, processes and resources for task-oriented programming of assembly systems,\u201d J. Intell. Manuf., vol.\u00a028, no.\u00a08, pp.\u00a01787\u20131800, 2017. https:\/\/doi.org\/10.1007\/s10845-015-1063-3.","DOI":"10.1007\/s10845-015-1063-3"},{"key":"2023033111242708062_j_auto-2022-0122_ref_024","doi-asserted-by":"crossref","unstructured":"S. Profanter, A. Perzylo, M. Rickert, and A. Knoll, \u201cA generic plug & produce system composed of semantic OPC UA skills,\u201d IEEE Open J. Ind. Electron. Soc., vol. 2, pp. 128\u2013141, 2021. https:\/\/doi.org\/10.1109\/ojies.2021.3055461.","DOI":"10.1109\/OJIES.2021.3055461"},{"key":"2023033111242708062_j_auto-2022-0122_ref_025","unstructured":"A. Bj\u00f6rkelund, H. Bruyninckx, J. Malec, K. Nilsson, and P. Nugues, \u201cKnowledge for Intelligent Industrial Robots,\u201d in AAAI Technical Report SS-12-02, Designing Intelligent Robots: Reintegrating AI, vol. SS-12-02, AAAI Spring Symposium Series, 2012."},{"key":"2023033111242708062_j_auto-2022-0122_ref_026","unstructured":"VDI, VDI 3682: Formalised Process Descriptions - Concept and Graphic Representation, 2015."},{"key":"2023033111242708062_j_auto-2022-0122_ref_027","unstructured":"ANSI\/ISA, Tr88.00.02-2015: Machine and Unit States: An Implementation Example of ansl\/isa-88.00.01, 2015."},{"key":"2023033111242708062_j_auto-2022-0122_ref_028","doi-asserted-by":"crossref","unstructured":"A. K\u00f6cher, T. Jeleniewski, and A. Fay, \u201cA method to automatically generate semantic skill models from PLC code,\u201d in IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society, Piscataway, NJ, IEEE, 2021, pp.\u00a01\u20136.","DOI":"10.1109\/IECON48115.2021.9589674"},{"key":"2023033111242708062_j_auto-2022-0122_ref_029","unstructured":"DIN, DIN EN 61360: Standard Data Element Types with Associated Classification Scheme - Part 1: Definitions - Principles and Methods, 2018."},{"key":"2023033111242708062_j_auto-2022-0122_ref_030","unstructured":"VDI, VDI 2206: Development of Mechatronic and Cyber-Physical Systems, 2021."},{"key":"2023033111242708062_j_auto-2022-0122_ref_031","unstructured":"D. Soni and A. Makwana, \u201cA survey on mqtt: a protocol of internet of things (iot),\u201d in International Conference on Telecommunication, Power Analysis and Computing Techniques (ICTPACT-2017), vol.\u00a020, 2017, pp.\u00a0173\u2013177."}],"container-title":["at - Automatisierungstechnik"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/auto-2022-0122\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/auto-2022-0122\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,3,31]],"date-time":"2023-03-31T14:49:23Z","timestamp":1680274163000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/auto-2022-0122\/html"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,2,1]]},"references-count":31,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2023,2,8]]},"published-print":{"date-parts":[[2023,2,23]]}},"alternative-id":["10.1515\/auto-2022-0122"],"URL":"https:\/\/doi.org\/10.1515\/auto-2022-0122","relation":{},"ISSN":["2196-677X","0178-2312"],"issn-type":[{"value":"2196-677X","type":"electronic"},{"value":"0178-2312","type":"print"}],"subject":[],"published":{"date-parts":[[2023,2,1]]}}}