Task Planning System with Priority for AAL Environments

There are numerous problems concerning the concepts of the Internet of Robotic Things (IoRT). Two notions are particularly challenging to achieve: heterogeneity and interoperability. A new architecture is proposed here to solve these problems. The goal of this study is to examine the design and development of a completely new architecture that integrates a range of components and robots into an intelligent environment. The following elements of the architecture are described, the connection with the environment, monitoring, the planning system, and the knowledge base of the system. In the main part, the article analyzes how the architecture generates plans from pre-established knowledge through ontologies and how it prioritizes certain plans over others. In this context, the structure within the ontologies is detailed, as well as their operation, how they can include relevant user information, and their assistance in generating plans. For the purpose of evaluating the architecture, the outcomes of two cases are presented in a virtual scenario and through a series of activities whose performance is examined in terms of time and priority.