A Methodology for Designing Knowledge-Driven Missions for Robots

• URL: http://arxiv.org/abs/2601.20797v1
• Date: Wed, 28 Jan 2026 17:39:03 GMT
• Title: A Methodology for Designing Knowledge-Driven Missions for Robots
• Abstract summary: This paper presents a comprehensive methodology for implementing knowledge graphs in ROS 2 systems.<n>The methodology encompasses several key steps: defining initial and target conditions, structuring tasks and subtasks, planning their sequence, representing task-related data in a knowledge graph, and designing the mission using a high-level language.
• Score: 0.0
• License: http://creativecommons.org/licenses/by-sa/4.0/
• Abstract: This paper presents a comprehensive methodology for implementing knowledge graphs in ROS 2 systems, aiming to enhance the efficiency and intelligence of autonomous robotic missions. The methodology encompasses several key steps: defining initial and target conditions, structuring tasks and subtasks, planning their sequence, representing task-related data in a knowledge graph, and designing the mission using a high-level language. Each step builds on the previous one to ensure a cohesive process from initial setup to final execution. A practical implementation within the Aerostack2 framework is demonstrated through a simulated search and rescue mission in a Gazebo environment, where drones autonomously locate a target. This implementation highlights the effectiveness of the methodology in improving decision-making and mission performance by leveraging knowledge graphs.

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