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Dronetology-cas, the Drone Collision Avoidance System Ontology

Latest version:
http://www.dronetology.net/dronetology-cas
Authors:
David Martín Lammerding
Contributors:
Alberto Córdoba
Jesús Villadangos
José Javier Astrain
Download serialization:
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License:
http://insertlicenseURIhere.org
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Cite as:
David Martín Lammerding. Dronetology-cas, the Drone Collision Avoidance System Ontology.
Ontology Specification Draft

Abstract

The objetive of dronetology-cas is to avoid collisions between UAVs using knowledge and different strategies.

Introduction back to ToC

Dronetology-cas is an application ontology intended as an universal vocabulary for any CAS for UAVs. It defines a knowledge base that stores flight and conflict knowledge.

Namespace declarations

Table 1: Namespaces used in the document
drone<http://www.dronetology.net/dronetology-cas>
owl<http://www.w3.org/2002/07/owl>
rdf<http://www.w3.org/1999/02/22-rdf-syntax-ns>
xsd<http://www.w3.org/2001/XMLSchema>
rdfs<http://www.w3.org/2000/01/rdf-schema>
dc<http://purl.org/dc/elements/1.1>

dronetology-cas, the Drone Collision Avoidance System Ontology: Overview back to ToC

This ontology has the following classes and properties.

Classes

Object Properties

Data Properties

Named Individuals

dronetology-cas, the Drone Collision Avoidance System Ontology: Description back to ToC

DroS is a CAS that transforms information into knowledge using the ontology Dronetology-cas to take decisions locally. DroS’ knowledge increases as the UAS flies, so decisions are improved and collisions are avoided or minimized. UAVs require real-time responses for real use, so the inference process is performed at the own UAS.

Cross reference for dronetology-cas, the Drone Collision Avoidance System Ontology classes, properties and dataproperties back to ToC

This section provides details for each class and property defined by dronetology-cas, the Drone Collision Avoidance System Ontology.

Classes

a d s b input datac back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#ADSBInputData

has super-classes
input data c
is in domain of
has speed dp, has t c c a dp

aircraftc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#Aircraft

has super-classes
risk c

colaborative conflictc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#ColaborativeConflict

has super-classes
conflict c
has sub-classes
dro s conflict c
is in domain of
has dro s characteristics dp, has mtom dp, has speed dp

commandc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#Command

has super-classes
mission element c

conflictc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#Conflict

is equivalent to
risk c
has sub-classes
colaborative conflict c, no colaborative conflict c, static conflict c
is in domain of
belongs to op, has bearing dp, has distance dp, has f c d dp, has id dp, has latitude dp, has longitude dp, has relative bearing dp, has timestamp dp, has ttc dp

coordinated speedc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#CoordinatedSpeed

has super-classes
mission element c
is in domain of
has c s pos dp, has speed dp
has members
coordinated speed 1 ni, coordinated speed 2 ni, coordinated speed 3 ni, coordinated speed 4 ni, coordination speed 5 ni, coordination speed 6 ni, coordination speed 7 ni, coordination speed 8 ni, coordination speed 9 ni

dro s conflictc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#DroSConflict

has super-classes
colaborative conflict c

evasive maneuverc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#EvasiveManeuver

has super-classes
maneuver c
is in domain of
has bearing dp

eventc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#Event

has super-classes
mission element c
is in domain of
has event time dp, has timestamp dp, is event of op
is in range of
has event op

f c u input datac back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#FCUInputData

has super-classes
input data c
is in domain of
has altitude dp, has latitude dp, has longitude dp, has speed dp

flight planc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#FlightPlan

has super-classes
mission element c
is in domain of
has drone op, has flight plan i d dp, has next waypoint op, has previous waypoint op
is in range of
is drone of op, is next waypoint of op, is previous waypoint of op

flight trackc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#FlightTrack

has super-classes
mission element c
is in domain of
has altitude dp, has bearing dp, has latitude dp, has longitude dp, has timestamp dp

geofencec back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#Geofence

has super-classes
mission element c
is in domain of
has radius dp, is geofence of op
is in range of
has geofence op

input datac back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#InputData

has super-classes
mission element c
has sub-classes
a d s b input data c, f c u input data c, vision input data c
is in domain of
belongs to op, fused with op, has bearing dp, has distance dp, has id dp
is in range of
fused with op

iterationc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#Iteration

has super-classes
mission element c
is in domain of
has iteration sequence dp
is in range of
belongs to op

maneuverc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#Maneuver

has super-classes
mission element c
has sub-classes
evasive maneuver c, speed maneuver c
is in domain of
has speed dp, same maneuver op
is in range of
same maneuver op

no colaborative conflictc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#NoColaborativeConflict

has super-classes
conflict c

obstaclec back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#Obstacle

has super-classes
risk c
is in domain of
has event op, has risk level dp
is in range of
is event of op

speed maneuverc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#SpeedManeuver

has super-classes
maneuver c

statec back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#State

has super-classes
mission element c
is in domain of
has state dp

static conflictc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#StaticConflict

has super-classes
conflict c
is in domain of
has geofence op, has radio dp
is in range of
is geofence of op

telemetryc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#Telemetry

has super-classes
mission element c
is in domain of
has altitude dp, has latitude dp, has longitude dp, has timestamp dp

vision input datac back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#VisionInputData

has super-classes
input data c

waypointc back to ToC or Class ToC

IRI: http://www.dronetology.net/dronetology-cas#Waypoint

has super-classes
mission element c
is in domain of
has waypoint i d dp, is next waypoint of op, is previous waypoint of op
is in range of
has next waypoint op, has previous waypoint op

Object Properties

belongs toop back to ToC or Object Property ToC

IRI: http://www.dronetology.net/dronetology-cas#belongsTo

has domain
conflict c
input data c
has range
iteration c

fused withop back to ToC or Object Property ToC

IRI: http://www.dronetology.net/dronetology-cas#fusedWith

has domain
input data c
has range
input data c

has droneop back to ToC or Object Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasDrone

has domain
flight plan c
has range
drone c
is inverse of
is drone of op

has eventop back to ToC or Object Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasEvent

has domain
obstacle c
has range
event c
is inverse of
is event of op

has geofenceop back to ToC or Object Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasGeofence

has domain
static conflict c
has range
geofence c
is inverse of
is geofence of op

has next waypointop back to ToC or Object Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasNextWaypoint

has domain
flight plan c
has range
waypoint c

has previous waypointop back to ToC or Object Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasPreviousWaypoint

has domain
flight plan c
has range
waypoint c

is drone ofop back to ToC or Object Property ToC

IRI: http://www.dronetology.net/dronetology-cas#isDroneOf

has domain
drone c
has range
flight plan c
is inverse of
has drone op

is event ofop back to ToC or Object Property ToC

IRI: http://www.dronetology.net/dronetology-cas#isEventOf

has domain
event c
has range
obstacle c
is inverse of
has event op

is geofence ofop back to ToC or Object Property ToC

IRI: http://www.dronetology.net/dronetology-cas#isGeofenceOf

has domain
geofence c
has range
static conflict c
is inverse of
has geofence op

is next waypoint ofop back to ToC or Object Property ToC

IRI: http://www.dronetology.net/dronetology-cas#isNextWaypointOf

has domain
waypoint c
has range
flight plan c

is previous waypoint ofop back to ToC or Object Property ToC

IRI: http://www.dronetology.net/dronetology-cas#isPreviousWaypointOf

has domain
waypoint c
has range
flight plan c

same maneuverop back to ToC or Object Property ToC

IRI: http://www.dronetology.net/dronetology-cas#sameManeuver

has domain
maneuver c
has range
maneuver c

Data Properties

has altitudedp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasAltitude

has domain
f c u input data c
flight track c
risk c
telemetry c
has range
float

has bearingdp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasBearing

has domain
conflict c
drone c
evasive maneuver c
flight track c
input data c
has range
float

has c a s elapsed timedp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasCASElapsedTime

has domain
drone c
has range
int

has c s posdp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasCSPos

has domain
coordinated speed c
has range
int

has distancedp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasDistance

has domain
conflict c
input data c
has range
double

has distance to dronedp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasDistanceToDrone

has domain
risk c
has range
float

has dro s characteristicsdp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasDroSCharacteristics

has domain
colaborative conflict c
has range
boolean

has drone u i ddp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasDroneUID

has domain
drone c
has range
int

has event timedp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasEventTime

has domain
event c
has range
int

has f c ddp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasFCD

has domain
conflict c
has range
boolean

has flight plan i ddp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasFlightPlanID

has domain
flight plan c
has range
int

has iddp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasId

has domain
conflict c
drone c
input data c
has range
string

has iteration sequencedp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasIterationSequence

has domain
iteration c
has range
int

has latitudedp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasLatitude

has domain
conflict c
f c u input data c
flight track c
telemetry c
has range
float

has longitudedp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasLongitude

has domain
conflict c
f c u input data c
flight track c
telemetry c
has range
float

has mtomdp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasMtom

has domain
colaborative conflict c
has range
double

has radiodp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasRadio

has domain
static conflict c
has range
float

has radiusdp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasRadius

has domain
geofence c
has range
float

has relative bearingdp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasRelativeBearing

has domain
conflict c
has range
float

has risk leveldp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasRiskLevel

has domain
obstacle c
has range
float

has speeddp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasSpeed

has domain
a d s b input data c
colaborative conflict c
coordinated speed c
f c u input data c
maneuver c
has range
double

has statedp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasState

has domain
state c
has range
string

has t c c adp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasTCCA

has domain
a d s b input data c
has range
string

has timestampdp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasTimestamp

has domain
conflict c
event c
flight track c
telemetry c
has range
long

has ttcdp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasTtc

has domain
conflict c
has range
double

has waypoint i ddp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#hasWaypointID

has domain
waypoint c
has range
int

is local dronedp back to ToC or Data Property ToC

IRI: http://www.dronetology.net/dronetology-cas#isLocalDrone

has domain
drone c
has range
boolean

Named Individuals

coordinated speed 1ni back to ToC or Named Individual ToC

IRI: http://www.dronetology.net/dronetology-cas#coordinated_speed_1

belongs to
coordinated speed c
has facts
has c s pos dp "1"^^int
has speed dp "30.0"^^double

coordinated speed 2ni back to ToC or Named Individual ToC

IRI: http://www.dronetology.net/dronetology-cas#coordinated_speed_2

belongs to
coordinated speed c
has facts
has c s pos dp "2"^^int
has speed dp "2.0"^^double

coordinated speed 3ni back to ToC or Named Individual ToC

IRI: http://www.dronetology.net/dronetology-cas#coordinated_speed_3

belongs to
coordinated speed c
has facts
has c s pos dp "3"^^int
has speed dp "2.0"^^double

coordinated speed 4ni back to ToC or Named Individual ToC

IRI: http://www.dronetology.net/dronetology-cas#coordinated_speed_4

belongs to
coordinated speed c
has facts
has c s pos dp "4"^^int
has speed dp "2.0"^^double

coordination speed 5ni back to ToC or Named Individual ToC

IRI: http://www.dronetology.net/dronetology-cas#coordination_speed_5

belongs to
coordinated speed c
has facts
has c s pos dp "5"^^int
has speed dp "2.0"^^double

coordination speed 6ni back to ToC or Named Individual ToC

IRI: http://www.dronetology.net/dronetology-cas#coordination_speed_6

belongs to
coordinated speed c
has facts
has c s pos dp "6"^^int
has speed dp "2.0"^^double

coordination speed 7ni back to ToC or Named Individual ToC

IRI: http://www.dronetology.net/dronetology-cas#coordination_speed_7

belongs to
coordinated speed c
has facts
has c s pos dp "7"^^int
has speed dp "2.0"^^double

coordination speed 8ni back to ToC or Named Individual ToC

IRI: http://www.dronetology.net/dronetology-cas#coordination_speed_8

belongs to
coordinated speed c
has facts
has c s pos dp "8"^^int
has speed dp "2.0"^^double

coordination speed 9ni back to ToC or Named Individual ToC

IRI: http://www.dronetology.net/dronetology-cas#coordination_speed_9

belongs to
coordinated speed c
has facts
has c s pos dp "9"^^int
has speed dp "2.0"^^double

local droneni back to ToC or Named Individual ToC

IRI: http://www.dronetology.net/dronetology-cas#local_drone

belongs to
drone c
has facts
has drone u i d dp "32454545"^^int
has id dp "local"
is local drone dp "true"^^boolean

Legend back to ToC

c: Classes
op: Object Properties
dp: Data Properties
ni: Named Individuals

References back to ToC

David Martı́n-Lammerding, José Javier Astrain Escola, Alberto Córdoba Izaguirre and Jesús Villadangos Alonso. An ontology-based system to avoid UAS flight conflicts and collisions in dense traffic scenarios. Expert Systems with Applications, 215, April 2023.

Acknowledgements back to ToC

The authors would like to thank Silvio Peroni for developing LODE, a Live OWL Documentation Environment, which is used for representing the Cross Referencing Section of this document and Daniel Garijo for developing Widoco, the program used to create the template used in this documentation.