A Methodology for end user programming of ROS-based service robots using jigsaw metaphor and ontologies

ÖZTÜRK Ö.

Intelligent Service Robotics, cilt.17, sa.4, ss.745-757, 2024 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 17 Sayı: 4
  • Basım Tarihi: 2024
  • Doi Numarası: 10.1007/s11370-024-00528-3
  • Dergi Adı: Intelligent Service Robotics
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Compendex, Psycinfo
  • Sayfa Sayıları: ss.745-757
  • Anahtar Kelimeler: ROS, Block-based approach, Ontology, End user programming
  • Manisa Celal Bayar Üniversitesi Adresli: Evet

Özet

This study proposes a methodology to build an interface that will enable end users to interact with ROS-based service robots. The proposed methodology enables building an easy-to-use interface using the jigsaw metaphor. The methodology exploits ontologies to maximize the data sharing and integration among the users of the system. This methodology is verified on a cocktail robot as a case study and an end user-based survey is conducted to evaluate the built interface. The case study proved the feasibility of the methodology. User-based evaluation results provided positive feedback regarding the usability and preferability of the interface built with the proposed methodology.