A Semantically Rich Policy Based Approach To Robot Control

in this paper we describe our approach to enhancing control of robotic systems by providing domain and policy services via KAoS. Recently developed languages such as OWL provide a powerful descriptive logic foundation that can be used to express semantically rich relationships between entities and actions, and thus create complex context sensitive policies. KAoS provides a tool to create policies using OWL and an infrastructure to enforce these policies on robots. We contend that a policy-based approach can provide significant advantages in controlling robotic systems and is a much more natural way for operators to interact with and manage multiple robots.