Collaboratively Working towards Ontology-based Standards for Robotics and Automation
A Full Day IROS 2018 Workshop
October 5, 2018
Towards a Robotic Society
Day by day, new machines and systems are being developed to help and assist humans in a myriad of activities. Future robotic systems need to work in teams and communicate with humans and other robots to share information and coordinate activities. In particular, there is an increasing demand from government agencies and the private sector alike to use Unmanned Aerial Vehicles (UAVs), Unmanned Ground Vehicles (UGVs), Unmanned Surface Vehicles (USVs), and Autonomous Underwater Vehicles (AUVs) for tasks including homeland security, reconnaissance, search and rescue, surveillance, data collection, and urban planning. As these systems will interact with humans in several scenarios, it is urgent to discuss the ethical aspects in their development related to, for instance, accountability, privacy and data protection, alignment to human values in both design and function. Ontology-based models for this domain would enable, for example, a clear communication among different stakeholders, the formulations of laws, the building of AI-based and Robotics systems with full alignment with what stakeholders expect, in terms of benefits and increase of human well-being.
About WOSRA
A robotized society
The 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018) theme is Towards a Robotic Society. Robotics will change everyday activities, making human-robot relationships a common thing. Robot users, operators, engineers, the robots themselves and surounding intelligent systems will interact, will talk, will know about them. Robotic knowledge wil be a core suff of the society texture.
The WOSRA workshop
This Workshop is designed for the robotics community to be aware of the recent approaches on the area of ontologies for robotics, automation, and ethics, and to promote the debate and encourage the robotics community to take part on the standards development. The workshop goal is to spread the IEEE standardization efforts for Robotics and Automation to a wider public looking for emerging new technologies.
Robotics is becoming a mainstream domain with a wide range of applications with middle and long-term impact on everyone lives. Current systems rely more and more on robot-robot communication and robot-human interaction. In terms of communication, a vocabulary with clear and concise definitions is a sine qua non component to enable information exchange among any group of agents, which can be human or non-human actors. This need for a well-defined knowledge representation is becoming evident if one considers the growing complexity of behaviors that robots are expected to perform as well as the rise of multi-robot and human-robot collaboration. The existence of a standard knowledge representation would:
define precisely concepts and relations in the robot's knowledge representation that could include, but is not limited to, robot hardware and software, environment, cause and effects of performing actions, relationship among other robots and people;
ensure common understanding among members of the community;
facilitate efficient data integration and transfer of information among robotic systems.
Objectives
This workshop has the purpose to increase interest in standardization for the Robotics and Automation (R&A) domain, as well as the ethical challenges involved. Our previous work in this context resulted in the very first RAS standard, named IEEE 1872-2015 - IEEE Standard Ontologies for Robotics and Automation. It defined a core ontology to specify the main concepts, relations, and axioms of robotics and automation and has become a reference for knowledge representation and reasoning in robots, as well as a formal reference vocabulary for communicating knowledge about R&A between robots and humans.
This workshop aims to discuss this emergent domain through invited talks, short presentations, and application papers from different areas with two main objectives:
highlight the recent developments in ontology-based approaches to describe the robotics and automation domain in terms of general knowledge, applications and ethical issues;
share and compare different viewpoints from robotics practitioners, looking for a common ground to combine distinct approaches towards the development of standards as part of the IEEE Standard Projects.
The workshop is structured to elicit participation and feedback from a broad spectrum of participants, both from academia and industry, interested in advancing the interaction between robots and humans using a standardized and formal terminology. The proposed workshop will serve the following sectors: Public sector using autonomous robots to deliver automated services, such as police and emergency responders; Health service providers; Transformation industry; Mining and construction industry; Oil and gas industry.
Topics of interest
Autonomous Robotics
Ontology-based development for Robotics and Automation
Ontology-based Standards for Robotics and Automation
Knowledge representation and reasoning for robotics and automation using Ontologies
Robot-robot interaction and/or Human-robot interaction using ontologies
Building ethical AI and Robot systems
Ethical design and development of AI and Robot systems
Data privacy and protection within world of AI and Robots
Trust in AI and Robots
Fairness and Transparency in AI and Robots
AI, Robotics and law
Intended audience
The targeted audience covers a wide range of practitioners from and outside Robotics that include (but not limited) people from Computer Science, Robotics, Philosophy, Engineering, and Law. We are specifically interested to reach participants from industrial and academic organisations, and early career researchers such as graduate students and postdoctoral researchers, interested on how ontologies and the future standard can be used to support their developments and research on autonomous robotics.
Workshop Organizers
Dr. Julita Bermejo-Alonso
Autonomous Systems Laboratory
Universidad Politécnica de Madrid
E-mail: julia.bermejo@upm.es
Pr. Abdelghani Chibani
LISSI Laboratory, University Paris-Est Créteil (UPEC), Paris, France
Dr. Paulo J.S. Gonçalves
IDMEC - Center of Intelligent Systems, University of Lisbon, Portugal.
Dr. Howard Li
Department of Electrical and Computer Engineering, University of New Brunswick, Fredericton, New Brunswick, Canada
Dr. Sara Mattingly-Jordan
Virginia Tech, VA, USA
Mr. Alberto Olivares Alarcos
Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain
Dr. Joanna Isabelle Olszewska
University of West Scotland, UK
Dr. Edson Prestes
Informatics Institute, Federal University of Rio Grande do Sul, Brazil
Dr. Sandro Rama Fiorini
Lissi Laboratory, Universitè Paris-Est Créteil (UPEC), Paris, France
Prof. Ricardo Sanz
Center for Automation and Robotics, Universidad Politécnica de Madrid, Spain
Workhsop content
Structure of the event
The event will be structured around sessions of invited speakers separated by coffee and lunch breaks. Prominent speakers and well-known experts in the field will concentrate in this workshop to better disseminate our growing community among the IROS18 attendees. One of the sessions will also include a significant time for interactive sessions and open-ended discussions.
There will be four sessions with invited speakers and experts in the topics covered by the Workshop. One session will be devoted to short presentations coming mainly from young researchers and PhD students, and also industry actors in the field of robotics and artificial intelligence with five-minute slots. Participants will be able to lively discuss the current trends and future challenges based on the case studies presented by each invited speaker in the proposed sessions.
Workshop results will be disseminated afterwards. Abstracts will be made available online, on the Workshop Website. Presentations and discussions will be videotaped and uploaded to the workshop website, under permission. Consensus documents and the transcript of the discussions will become supporting materials of the ontological standards and will be made available at the website. Active participants not already involved in the Working Groups will be invited to join.
Sessions
Session 1
On Ontologies for Robotics and Automation
Provide the audience with an overview on the use ontologies in the robotics and automation domain. This session will set the ground for the follwing discussions on ontology standards.
Session 2
On Specific Domains of Application
Focus on existing efforts to use ontologies in specific domains where robots should be endowed with augmented autonomy and human-robot, and robot-robot interaction capabilities.
Session 3
On Ethical Standards for Robotics and AI
Discuss the ongoing work pursed by the P7007 WG and also stimulate the attendees to join the WG
activities. Keynote speakers will describe their current work, as starting point for further discussion.
Session 4
Lightning Presentations and Panel Discussion session
This final session comprises a lightning presentations session that will show current work on
promising research within the scope of the Workshop, and a panel discussion that will conclude the workshop
with a debate on open problems and challenges that shall be pursued in this field of research.
We expect to attract both industrial and academic attendees, making the discussion of topics more
diverse and productive. The discussion would be moderated by the workshop organizers.
Invited Speakers
Talk 1: Stefano Borgo, Laboratory for Applied Ontology, ISTC/ CNR, Italy.
Talk 2: Michael Beetz, Institute for Artificial Intelligence (IAI), University of Bremen, Germany.
Talk 3: Ricardo Sanz, Autonomous Systems Laboratory, Universidad Politécnica de Madrid, Spain.
Talk 4: Howard Li, Department of Electrical and Computer Engineering, University of New Brunswick, Fredericton, New Brunswick.
Talk 5: Joanna Isabelle Olszewska, University of West Scotland, UK.
Talk 6: Paulo Gonçalves, IDMEC - Center of Intelligent Systems, University of Lisbon, Portugal.
Talk 7: Edison Pignaton de Freitas, Federal University of Rio Grande do Sul Informatics Institute, Brazil.
Talk 8: Paulo Menezes, University of Coimbra, Portugal.
Talk 9: Edson Prestes, Informatics Institute, Federal University of Rio Grande do Sul, Brazil.
Talk 10: Hagita Nori, ATR Lab, Japan.
Talk 11: Naouel Ayari, E-Helth/Research Departement, Altran Technologies, France.
Talk 12: S. Veera Ragavan, Department of Mechatronics Engineering, School of Engineering, Monash University (Malaysia Campus)
Workshop Program
The event is structured around 3 sessions of invited speakers and experts in the topics covered by the Workshop.
One last session is devoted to a Lightning Presentation part (see Calls below) and a Panel Discussion. Participants
will be able to lively discuss the current trends and future challenges based on the case studies presented by
each invited speaker in the proposed sessions.
Presentations will be made available online on this Website. Consensus documents and
the transcript of the discussions will become supporting materials of the ontological standards and will be
made available at the website. Active participants not already involved in the Working Groups will be invited
to join.
Workshop Initial Program
This program is temporary and may change w/o notice.
Session 1
9:00 – 9:05
Welcome and general presentation
Julita Bermejo
9:05 – 9:30
Engineering modeling and ontological modeling: God and devil are in the detail
Stefano Borgo
9:30 – 10:00
Knowledge Processing for Robots
Michael Beetz
10:00 – 10:30
Sharing Knowledge in the Intelligent Robot Life-cycle
Ricardo
Sanz
10:30 – 11:00
Autonomous Robotics and Ontologies
Howard Li
Session 2
11:30 – 12:00
Ontologies for Vision Agents
Joanna I. Olszewska
12:00 – 12:30
Ontologies for Healthcare Robots: development and applications
Paulo Gonçalves
12:30 – 13:00
Enhancing Information Sharing in Cloud-Robotics Systems by using Ontologies
Edison Pignaton de Freitas
13:00 – 13:30
Ontologies for AAL and the integration of Artificial Social Agents
Paulo Menezes
Session 3
14:30 – 15:00
Towards an Ontological Standard for Ethically Driven Robotics and Automation Systems
Edson Prestes
15:00 – 15.30
Autonomous Robotic Services with Communication-aware and Human-aware Constraints in Human Environments
Hagita Nori
15:30 – 16:00
N-ary Ontologies-based Models for Assistive Robotics: Challenges & Future Trends
Naouel Ayari
16:00 – 16:30
Ontological similarities: Scaling Robot Architecture (RoA) Ontology to describe Cyber-Physical Systems
Veera. S. Ragavan
Session 4
16:30 – 17:30
Lightning Presentations
Short presentations by authors
17:30 – 18:30
Panel Discussion
All Participants. Moderated by R. Sanz and E. Prestes
18:30 – 19:00
Wrap‐up, summary of the topics and follow‐up actions
Paulo Gonçalves
Abstracts
KnowRob 2.0 - A 2nd Generation Knowledge Processing Framework for Cognition-enabled Robotic Agents
Prof. Michael Beetz, Director
The Institute of Artificial Intelligence (IAI), Bremen, Germany
In this talk I present KnowRob2.0, a second generation knowledge representation and reasoning framework
for robotic agents. KnowRob2.0 is an extension and partial redesign of KnowRob, currently one of the most
advanced knowledge processing systems for robots that has enabled them to successfully perform complex
manipulation tasks such as making pizza, conducting chemical experiments, and setting tables. The
knowledge base appears to be a conventional first-order time interval logic knowledge base, but it
exists to a large part only virtually: many logical expressions are constructed on demand from data
structures of the control program, computed through robotics algorithms including ones for motion planning
and solving inverse kinematics problems, and log data stored in noSQL databases. Novel features and
extensions of KnowRob2.0 substantially increase the capabilities of robotic agents of acquiring open-ended
manipulation skills and competence, reasoning about how to perform manipulation actions more realistically,
and acquiring commonsense knowledge.
Engineering modeling and ontological modeling: God and devil are in the detail
Stefano Borgo
Laboratory for Applied Ontology, ISTC CNR, Italy
The increasing interest to build comprehensive models in engineering and robotics pushes for the adoption
of reliable methodologies and, among these, semantic and ontological approaches are the most promising.
There is however a tension in attitude and principle between engineering, semantic and ontological modeling
and, because of this, research focus and solutions diverge. On the one hand researchers are pushing for
"translating" existing engineering models and standards into semantic languages like OWL. On the other
hand, researchers are rebuilding innovative models and standards based on ontological analysis. The latter
approach can lead to change how we look at engineering data and problems. There are different ways to
proceed and we should be aware of the differences. We will give examples of differences between engineering
and ontological models, and also discuss how the choice of the ontology can impact your work in robotics.
Development of Autonomous Robotics Ontology
Howard Li
University of New Brunswick. Autonomous Robotics (AuR) Ontology IEEE Working Group Chair
The IEEE SA Autonomous Robotics Ontology Working Group aims to extend the CORA ontology to represent more
specific concepts and axioms that are commonly used in autonomous robotics. Therefore, the autonomous
robotics working group performs a comprehensive study in different R&A domains (e.g. aerial, ground,
surface, underwater, and space robots) to identify the basic hardware and software components necessary
to provide a robot (or a group of robots) with autonomy. As a long-term goal, the working group will
create a standard ontology that specifies the domain knowledge needed to build autonomous systems comprised
of robots that can operate in all classes of unstructured environments.
The autonomous robotics working group aims to extend the CORA ontology for the domain of autonomous robotics by:
Studying R&A sub-domains to identify the core design patterns specific to autonomous robotics.
Developing general ontological concepts and domain-specific axioms for autonomous robotics.
Analyze and compare existing systems in order to develop general use cases and/or case studies for design of autonomous robotics.
Sharing Knowledge in the Intelligent Robot Life-cycle
Ricardo Sanz
Autonomous Systems Laboratory / Center for Automation and Robotics. Universidad Politecnica de Madrid, Spain
In the life-cycles of intelligent robots there are two knowledge-based systems of maximal relevance: the
intelligent robot system and the engineering system. The intelligent robot uses knowledge in the performance of
its tasks and in its relations with other agents. The engineering system is the human-centric, tool-intensive
system that produces the robot system. This system uses the knowledge to build, operate, maintain and evolve
the robot system. Both systems are obviously causally related but the coupling at the knowledge level is of
special interest. In this talk I will address the nature and roles of this knowledge in an MBSE life-cycle context and
how ontologies are the cornerstones for all this process.
Ontologies for Vision Agents
Dr Joanna Isabelle Olszewska
University of West Scotland, UK
With the growth of AI agents in our daily life, people are increasingly asked to interact with these intelligent agents,
which are most of the time equipped with camera(s) and/or systems able to automatically process visual inputs such as
raw still images, live video feeds, etc. Hence, the development of ontologies for these vision agents is of prime
importance, in order to allow the sharing of the information between humans and/or vision-enabled robotic systems in
a consistent and interoperable way.
In this work, we present the challenges underlying vision agents as well as the solutions provided by the development
of ontologies such as the Spatio-Temporal Visual Ontology (STVO).
Ontologies for AAL and the integration of Artificial Social Agents
Paulo Menezes
University of Coimbra, Portugal
In this talk, we will address some recent efforts regarding the representation of knowledge associated with the Active
and Assisted Living (AAL) domain and the approaches that are being proposed to integrate such knowledge into Artificial
Social Agents. In particular, we will look into the recently proposed taxonomy for AAL - TAALxonomy - and what concepts
are aligned with the current project for standardization regarding ontologies for autonomous systems, with particular
emphasis on the Core Ontology for Robotics and Automation (CORA). We will also briefly present an application example
of how these knowledge representations are helping researchers to develop more reliable artificial social agents.
Enhancing Information Sharing in Cloud-Robotics Systems by using Ontologies
Edison Pignaton de Freitas
Federal University of Rio Grande do Sul
The usage of cloud-based systems represents a no-way-back trend,
which is allowing the further developments in different areas.
In robotics domain it is also true, as cloud-robotics systems are emerging
as a suitable solution model for cooperative robotics systems composed of groups
of robots that interface and cooperate with computer systems.
Exploring this topic, this talk presents efforts performed
by the IEEE SA Autonomous Robotics Ontology Working Group
to address the need for an ontology to this specific domain,
highlighting the main challenges to be faced in the near future.
Ontologies for Healthcare Robots: development and applications
Paulo J.S. Gonçalves
IDMEC - Center of Intelligent Systems, University of Lisbon, Portugal
The talk presents an overview of the efforts (current and past) to deploy healthcare robots in healthcare scenarios,
that use ontologies to represent knowledge. Several scenarios tackled by the research community uses ontologies in
robotic systems to share knowledge, in a machine readable format, to solve specific tasks in healthcare sub-domains
as: surgical robots, robot companions, and so on. Such surveyed domain specific ontologies will be presented in
the talk. After a discussion will be performed about the upper level ontologies that are used in those cases,
which often are in conflict, e.g. BFO used mainly for the biomedical domain and SUMO used in IEEE-CORA. The
presentation will end by presenting the development workflow of a sub-domain ontology: Ontology for Robotic
Orthopaedic Surgery (OROSU).
N-ary Ontologies-based Models for Assistive Robotics: Challenges & Future Trends
Naouel Ayari
E-Helth/Research Departement, Altran Technologies, France
The next generation of ambient assisted living services will be based on eco-systems or organizations of
intelligent artificial agents embodied in companion robots and smart objects. To provide, anywhere and anytime,
smart assistance services to people, these agents need to be endowed with advanced knowledge representation,
reasoning and communication capabilities. To render assistive agents more autonomous and able of taking
context-aware decisions based on the current context/situation of the assisted person, expressive and efficient
knowledge representation and reasoning models for the open world are required. I will talk about recent work
in joint reasoning about semantic representations based on n-ary ontologies and physical representations,
especially how such reasoning relates to natural language understanding, and how we can bridge the gap
between low-level sensing and control, and higher-level semantic representations to create more capable
robots for healthcare applications.
Lightning Presentations
The Lightning Presentations (10 minute presentations) concerning original and promising research or
applications within the scope of the IROS 2018 Workshop finally selected are as follows:
The CARESSES EU-Japan project: enhancing Socially Assistive Robots with Cultural Awareness, Cultural Knowledge
and Cultural Sensitivity
Antonio Sgorbissa, Linda Battistuzzi, Barbara Bruno, Roberto Menicatti, Carmine Tommaso Recchiuto,
Alessandro Saffiotti, Ali Abdul Khaliq, Uwe Köckemann, Federico Pecora, Irena Papadopoulos, Christina Koulouglioti,
Chris Papadopoulos, Tetiana Hill, David Hewson, Gurch Randhawa, Amit Kumar Pandey, Maxime Busy, Edouard Lagrue,
Sanjeev Kanoria, Len Merton, Nak Young Chong, Pham Van Cu, Bui Ha Duong, Yuto Lim, Tuyen Nguyen, Yasuo Tan,
Hiroko Kamide, Jaeryoung Lee, and Nicholas Bastos
Hybrid approach for Human Activity Recognition by Ubiquitous Robots