This library implements MoreOrg which is described in the PhD Thesis "Autonomous Operation of a Reconfigurable Multi-Robot System for Planetary Space Missions" (Roehr 2019) and in (Roehr 2021.
This implementation of an organization model allows to describe (reconfigurable) multirobot systems, so that one can reason on structure and function of so-called composite agents, i.e. agents that are composed from two or more (atomic) agents. The organization model relies on a basic system description of each atomic agent, which is provided as ontology in the Web Ontology Language (OWL).
System combinations (aka coalition or composite agent) have quantifiable requirements and properties. The requirements and properties are defined by the combination of restrictions which apply to the model of atomic actors.
A general usage example can be found as part of the unit test in the subfolder test/, e.g., in test/test_OrganizationModelAsk.cpp
A typical usage is illustrated in the following example. Execution of the example requires a previous installation of the organisation model, so that the ontologies are properly installed (see CMakeLists.txt).
#include <moreorg/OrganizationModel.hpp>
#include <moreorg/OrganizationModelAsk.hpp>
#include <moreorg/vocabularies/OM.hpp>
using namespace moreorg;
OrganizationModel::Ptr om =
make_shared<OrganizationModel>(owlapi::model::IRI("http://www.rock-robotics.org/2015/12/projects/TransTerrA"));
owlapi::model::IRI payload = owlapi::vocabulary::OM::resolve("Payload");
owlapi::model::IRI sherpa = owlapi::vocabulary::OM::resolve("Sherpa");
ModelPool modelPool;
modelPool[payload] = 10;
modelPool[sherpa] = 2;
OrganizationModelAsk ask(om, modelPool, true);
facades::Robot robot(modelPool, ask);
bool isAMobileCompositeAgent = robot.isMobile();
The utility moreorg-reader allows you to visualise and render the information contained in an ontology. For example, to create a latex table to describe the properties of the agent type SherpaTT:
./build/src/moreorg-reader --om http://www.rock-robotics.org/2015/12/robots/SherpaTT --latex --compact --columns 3
The 'deprecated' utility multiagent_scenario_analysis allows for a generative approach to evaluate the to-be-expected feasible agent types:
./build/src/multiagent_scenario_analysis --configuration test/data/test.scenario --coalition_size 5
The utility moreorg-bm allows to test the connectivity for a given scenario file.
./build/src/moreorg-bm -s test/data/benchmark/bm-spec1 -e 1 -t connectivity
The benchmark requires a scenario file, consisting of the description of an agent pool for which the connectivity shall be tested. This first line must describe the top ontology (which has to include the ontological information about all agent types).
http://www.rock-robotics.org/2015/12/projects/TransTerrA
http://www.rock-robotics.org/2014/01/om-schema#Sherpa 1
http://www.rock-robotics.org/2014/01/om-schema#CoyoteIII 1
http://www.rock-robotics.org/2014/01/om-schema#BaseCamp 1
http://www.rock-robotics.org/2014/01/om-schema#Payload 4
Create a new Rock-based installation in a development folder, here called dev:
mkdir dev
cd dev
wget http://www.rock-robotics.org/master/autoproj_bootstrap
ruby autoproj_bootstrap
In autoproj/manifest add the respective manifest and add the package to the layout section:
package_set:
- github: rock-core/rock-package_set
layout:
- knowledge_reasoning/moreorg
Then use the following commands to update your workspace:
$>source env.sh
$>autoproj update
$>autoproj osdeps
$>amake knowledge_reasoning/moreorg
To see the documentation of this project please do the following after checkout to generate the doxygen-base documentation:
mkdir build
cd build
make doc
Open the doxygen documentation with a browser: build/doc/index.html The doxygen documentation contains all information on how to start using the library (as described here) along with the general API documentation.
Running test in Rock is controlled via the Flag ROCK_TEST_ENABLED. To activate the tests let autoproj set this cmake build flag:
$> autoproj test enable knowledge_reasoning/moreorg
$> amake knowledge_reasoning/moreorg
Then you can run the tests, which are implemented with Boost Testing Framework with:
$> ./build/test/moreorg-test --log_level=all
GitHub will be used for pull requests and issue tracking: https://github.com/rock-knowledge-reasoning/knowledge-reasoning-moreorg
This software is distributed under the New/3-clause BSD license.
Copyright (c) 2022- Thomas M. Roehr, Simula Research Laboratory
Copyright (c) 2013-2021 Thomas M. Roehr, DFKI GmbH Robotics Innovation Center