On Semantic Support System for USAR operations with mobile robots
Abstract: This paper describes the design and the basic implementation of a Semantic Support System (SSS) for Urban Search and Rescue (USAR) operations. The system is intended for use by rescue teams equipped with mobile robots. The goal of the work is to provide the rescue team with a global operational picture that ensures proper information availability. The core of the system is a semantic model of the environment based on Qualitative Spatio-Temporal Representation and Reasoning (QSTRR) framework. Thus, the ontology of the semantic model is described. The ontology is based on Humanitarian Data Model enhanced by the robot`s information. SSS is designed to work with multiple data sources: Geographic Information System (GIS), 3D point clouds, camera images etc. The article describes,as an example, the results of building the semantic model from 3D point clouds. An example of qualitative reasoning based on the semantic model is shown.
Keywords: USAR, semantic mapping, ontology, qualitative reasoning
Area: Mechanics, Automation and Robotics
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