Robot

Reuse

World Wide Web

Engineering

Philosophy

Variety (cybernetics)

Semantic Web

Scope (computer science)

Set (abstract data type)

Computer science

Waste management

Mathematics

Political science

Epistemology

Domain (mathematical analysis)

Mathematical analysis

Ontology

Artificial intelligence

Autonomy

Software engineering

Programming language

Domain knowledge

Ontology language

Knowledge management

Human–computer interaction

Process ontology

USable

The Knowledge Engineering Review

Within the next decades, robots will need to be able to execute a large variety of tasks autonomously in a large variety of environments. To relax the resulting programming effort, a knowledge-enabled approach to robot programming can be adopted to organize information in re-usable knowledge pieces. However, for the ease of reuse, there needs to be an agreement on the meaning of terms. A common approach is to represent these terms using ontology languages that conceptualize the respective domain. In this work, we will review projects that use ontologies to support robot autonomy. We will systematically search for projects that fulfill a set of inclusion criteria and compare them with each other with respect to the scope of their ontology, what types of cognitive capabilities are supported by the use of ontologies, and which is their application domain.

A review and comparison of ontology-based approaches to robot autonomy