This deliverable aims at describing the scientific and technical results achieved within the task T2.1 “Description, modelling and continuous update of the knowledge base” within WP2. This task has focused on the design and development of a knowledge-based module capable
of representing Human-Robot Collaboration (HRC) scenarios and realizing abstraction mechanisms suitable to enhance the overall autonomy level and flexibility of HRC control systems. On the one hand, the current deliverable describes the research activities carried out by CNR-ISTC (on the basis of inputs from other partners) to define a new ontology, called Sharework Ontology for Human-Robot Collaboration (SOHO), aimed at formally characterizing the whole set of concepts, properties and relationships that are relevant in HRC scenarios (Task T2.1.1 “Knowledge Base definition and modelling”). On the other hand, this deliverable describes the software module composed by a set of ROS-based nodes and services realized to actually build and maintain the Sharework Knowledge Base (KB). The KB relies on SOHO to characterize entities and behaviors of a specific HRC scenario, contextualizes data gathered from the perception modules and, (continuously) processes information to proactively recognize events or situations relevant at production level such as,
e.g., production goal request, production tasks performed by workers etc. (Task T2.1.2 “Knowledge Base Continuous update manager”).