Distributed Semantic Knowledge Base for Collaborative Robot Tasks
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Solution Overview
Problem
Conventional robotic systems rely on centralized databases for data, which can lead to unstable connections in bandwidth-constrained scenarios, affecting task execution.
Innovation Solution
A distributed semantic knowledge base is implemented among robots, where task-specific parameters are stored and managed across multiple robots, enabling self and external queries to identify target robots based on capabilities and cost factors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a centralized database is used to serve data to robots, then data management is simplified, but connection stability deteriorates in bandwidth-constrained scenarios
Solution Approach 1:
The centralized database is segmented and distributed across multiple robots in the robotic group. Each robot maintains a local copy of the knowledge base, transforming the single centralized storage into multiple distributed storage nodes. This segmentation resolves the contradiction by reducing connection dependency while maintaining data accessibility.
Solution Approach 2:
A semantic knowledge base acts as an intermediary layer between robots and the original centralized database. This intermediary enables robots to query and access task-specific parameters locally without direct connection to the centralized database, thereby maintaining data management functionality while improving connection stability in bandwidth-constrained scenarios.
2Stability of the object's composition
If a centralized database is used, then data consistency is maintained, but network traffic increases in bandwidth-constrained scenarios
Solution Approach 1:
The knowledge base is segmented into robot-specific portions, allowing each robot to store and access relevant task parameters locally. This reduces the need for frequent network communications to retrieve data, thereby decreasing network traffic while maintaining data consistency through the distributed semantic knowledge base structure.
Solution Approach 2:
Each robot in the robotic group maintains a local copy of the semantic knowledge base tailored to its specific task requirements. This local quality approach allows robots to access frequently needed parameters without network communication, reducing overall network traffic while preserving data consistency through the distributed architecture.
3Ease of operation
If task parameters are stored centrally, then data accessibility is simplified, but task completion time increases in poor bandwidth conditions
Solution Approach 1:
The semantic knowledge base is pre-populated with task-specific parameters and distributed to robots before task execution begins. This preliminary action allows robots to have immediate access to required data without waiting for network retrieval during task execution, thereby reducing task completion time while maintaining ease of data accessibility.
Solution Approach 2:
Task parameters are segmented and distributed to individual robots based on their specific task requirements. This segmentation enables each robot to access only the relevant parameters locally without needing to query the entire centralized database, reducing access time while preserving simplified data accessibility through the distributed structure.
Data Source
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AI summary
When a group of robots are collaborating for executing a task, and if data that is required for the robots to execute the tasks is stored in a centralized database, access to the data is limited in a bandwidth constrained network. Provided herein are a method and a system of collaborative task execution by a robotic group using a distributed semantic knowledge base. The distributed semantic knowledge base is distributed between multiple robots that form a robotic group. Each robot triggers a self query as well as one or more external queries to gather required data pertaining to a plurality of task specific parameters, and uses the gathered data to execute one or more tasks assigned to the robotic group.