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G. Koppensteiner, C. Krofitsch, R. Hametner, D. Miller, M. Merdan:
"Application of Knowledge Driven Mobile Robots for Disassembly Tasks";
in: "In Recent Advances in Robotics and Automation", Springer-Verlag, Berlin-Heidelberg, 2013, ISBN: 978-3-642-37386-2, S. 311 - 321.

Considering the disassembly as a vital and prospective industry
domain, we use the mobile robots to automate the disassembly process. In our
system, each mobile robot has particular skills and is supervised by an agent
with related objectives and knowledge. An agent has an ontology-based world
model, which is responsible to maintain the knowledge about the robot´s activities
in relation to its environment as well as to its underlying software
parts. The ontology is used to represent a specification of an agent´s domain
knowledge. The system functionality is tested with three mobile robots having
a task to disassemble a particular Lego construct. Different rule-engines were
benchmarked in order to enhance the systems performance.