ScholarWorks@성균관대학교

초록

Intelligent robotic systems frequently operate under stringent energy limitations, especially in complex and dynamic environments. To enhance both adaptability and reliability, this study introduces a semantic planning framework that integrates ontology-driven reasoning with energy awareness. The framework estimates energy consumption based on the platform-specific behavior of sensing, actuation, and computational modules while continuously updating place-level semantic representations using real-time execution data. These representations encode not only spatial and contextual semantics but also energy characteristics acquired from prior operational history. By embedding historical energy usage profiles into hierarchical semantic maps, this framework enables more efficient route planning and context-aware task assignment. A shared semantic layer facilitates coordinated planning for both single-robot and multi-robot systems, with the decisions informed by energy-centric knowledge. This approach remains hardware-independent and can be applied across diverse platforms, such as indoor service robots and ground-based autonomous vehicles. Experimental validation using a differential-drive mobile platform in a structured indoor setting demonstrates improvements in energy efficiency, the robustness of planning, and the quality of the task distribution. This framework effectively connects high-level symbolic reasoning with low-level energy behavior, providing a unified mechanism for energy-informed semantic decision-making.

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