Meta-control and Self-Awareness for the UX-1 Autonomous Underwater Robot

Carlos Hernandez Corbato, Zorana Milosevic, Carmen Olivares, Gonzalo Rodriguez, Claudio Rossi

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

2 Citations (Scopus)
19 Downloads (Pure)


Autonomous underwater robots, such as the UX-1 developed in the UNEXMIN project, need to maintain reliable autonomous operation in hazardous and unknown environments. Because of the lack of any kind of real-time communications with a human operated command and control station, the control architecture needs to be enhanced with mission-level self-diagnosis and self-adaptation properties an additional provided by some kind of supervisory or “metacontrol” component to ensure its reliability. In this paper, we propose an ontological implementation of such component based on Web Ontology Language (OWL) and the Semantic Web Rule Language (SWRL). The solution is based on an ontology of the functional architecture of autonomous robots, which allows inferring the effects of the performance of its constituents components in the functions required during the robot mission, and generate the reconfigurations needed to maintain operation reliably. The concept solution has been validated using a hypothetical set of scenarios implemented in an OWL ontology and an OWLAPI-based reasoner, which we aim at validating by integrating the metacontrol reasoning with a realistic simulation of the underwater robot.

Original languageEnglish
Title of host publicationRobot 2019
Subtitle of host publication4th Iberian Robotics Conference - Advances in Robotics
EditorsManuel F. Silva, José Luís Lima, Luís Paulo Reis, Alberto Sanfeliu, Danilo Tardioli
Place of PublicationCham, Switzerland
ISBN (Electronic)978-3-030-35990-4
ISBN (Print)978-3-030-35989-8
Publication statusPublished - 2019
Event4th Iberian Robotics Conference, ROBOT 2019 - Porto, Portugal
Duration: 20 Nov 201922 Nov 2019

Publication series

NameAdvances in Intelligent Systems and Computing
Volume1092 AISC
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365


Conference4th Iberian Robotics Conference, ROBOT 2019

Bibliographical note

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • self-adaptation
  • autonomy
  • underwater robots
  • ontologies


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