Knowledge and Data Representation for Motion Planning in Dynamic Environments

In this paper we describe our initial efforts to develop a knowledge base for motion planning in dynamic environments. Our eventual goal is to smooth the design and integration of multiple heterogeneous robots working in shared environments, and to enable the creation of libraries of plans that can be shared and reused by different robots. We furthermore attempt to align our work with the ongoing activities of the IEEE Ontologies for Robotics and Automation working group.