{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T14:10:49Z","timestamp":1767967849117,"version":"3.49.0"},"reference-count":53,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2021,2,9]],"date-time":"2021-02-09T00:00:00Z","timestamp":1612828800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"UNEXMIN project by European Union\u2019s Horizon 2020 research and innovation programme","award":["690008"],"award-info":[{"award-number":["690008"]}]},{"name":"ROSIN project by European Union\u2019s Horizon 2020 research and innovation programme","award":["732287"],"award-info":[{"award-number":["732287"]}]},{"name":"RobMoSys-ITP-MROS project by European Union\u2019s Horizon 2020 research and innovation programme","award":["732410"],"award-info":[{"award-number":["732410"]}]},{"name":"ROBOMINERS project by European Union\u2019s Horizon 2020 research and innovation programme","award":["820971\u202c"],"award-info":[{"award-number":["820971\u202c"]}]},{"name":"RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub by \u201cProgramas de Actividades I+D en la Comunidad de Madrid&quot;","award":["S2018\/NMT-4331"],"award-info":[{"award-number":["S2018\/NMT-4331"]}]},{"name":"UNEXUP project by EIT RawMaterials","award":["19160"],"award-info":[{"award-number":["19160"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Autonomous systems are expected to maintain a dependable operation without human intervention. They are intended to fulfill the mission for which they were deployed, properly handling the disturbances that may affect them. Underwater robots, such as the UX-1 mine explorer developed in the UNEXMIN project, are paradigmatic examples of this need. Underwater robots are affected by both external and internal disturbances that hamper their capability for autonomous operation. Long-term autonomy requires not only the capability of perceiving and properly acting in open environments but also a sufficient degree of robustness and resilience so as to maintain and recover the operational functionality of the system when disturbed by unexpected events. In this article, we analyze the operational conditions for autonomous underwater robots with a special emphasis on the UX-1 miner explorer. We then describe a knowledge-based self-awareness and metacontrol subsystem that enables the autonomous reconfiguration of the robot subsystems to keep mission-oriented capability. This resilience augmenting solution is based on the deep modeling of the functional architecture of the autonomous robot in combination with ontological reasoning to allow self-diagnosis and reconfiguration during operation. This mechanism can transparently use robot functional redundancy to ensure mission satisfaction, even in the presence of faults.<\/jats:p>","DOI":"10.3390\/s21041210","type":"journal-article","created":{"date-parts":[[2021,2,10]],"date-time":"2021-02-10T04:33:46Z","timestamp":1612931626000},"page":"1210","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["Functional Self-Awareness and Metacontrol for Underwater Robot Autonomy"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7860-9030","authenticated-orcid":false,"given":"Esther","family":"Aguado","sequence":"first","affiliation":[{"name":"Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8701-5701","authenticated-orcid":false,"given":"Zorana","family":"Milosevic","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain"},{"name":"Resources Computing International Ltd, Matlock DE4 5JA, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6094-4917","authenticated-orcid":false,"given":"Carlos","family":"Hern\u00e1ndez","sequence":"additional","affiliation":[{"name":"Cognitive Robotics, Delft University of Technology, 2628 CD Delft, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2381-933X","authenticated-orcid":false,"given":"Ricardo","family":"Sanz","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6672-4827","authenticated-orcid":false,"given":"Mario","family":"Garzon","sequence":"additional","affiliation":[{"name":"Cognitive Robotics, Delft University of Technology, 2628 CD Delft, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6853-0310","authenticated-orcid":false,"given":"Darko","family":"Bozhinoski","sequence":"additional","affiliation":[{"name":"Cognitive Robotics, Delft University of Technology, 2628 CD Delft, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8740-2453","authenticated-orcid":false,"given":"Claudio","family":"Rossi","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics UPM-CSIC, Universidad Polit\u00e9cnica de Madrid, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,2,9]]},"reference":[{"key":"ref_1","unstructured":"(2020, December 30). 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