Institut de Robòtica i Informàtica Industrial, CSIC-UPC Llorens i Artigas 4-6, 08028Barcelona, Spain e-mail: aolivares@iri.upc.edu"/> Institute for Artificial Intelligence, University of Bremen, Germany e-mail: danielb@uni-bremen.de"/> Centre for Pattern Analysis and Machine Intelligence, University of Waterloo, Canada"/> IDMEC, Instituto Politécnico de Castelo Branco, Portugal"/> The American University in Cairo, Egypt"/> Universidad Isabel I, Burgos, Spain"/> Computer Science Dept., Federal University of Bahia, Brazil"/> Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain"/> Instituto Pedro Nunes, 3030-199Coimbra, Portugal"/> University of the West of Scotland, UK"/> Department of Computer Science, University of Verona, Italy"/> Informatics Institute, Federal University of Rio Grande do Sul, Brazil"/> Knoesis, Wright State University, USA"/> Laboratory of Applied Ontology ISTC-CNR, Trento, Italy"/> University of New Brunswick, Canada"/>
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2019 Volume 34
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REVIEW   Open Access    

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

  • Institut de Robòtica i Informàtica Industrial, CSIC-UPC Llorens i Artigas 4-6, 08028Barcelona, Spain e-mail: aolivares@iri.upc.edu

  • Institute for Artificial Intelligence, University of Bremen, Germany e-mail: danielb@uni-bremen.de

  • Centre for Pattern Analysis and Machine Intelligence, University of Waterloo, Canada

  • IDMEC, Instituto Politécnico de Castelo Branco, Portugal

  • The American University in Cairo, Egypt

  • Universidad Isabel I, Burgos, Spain

  • Computer Science Dept., Federal University of Bahia, Brazil

  • Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain

  • Instituto Pedro Nunes, 3030-199Coimbra, Portugal

  • University of the West of Scotland, UK

  • Department of Computer Science, University of Verona, Italy

  • Informatics Institute, Federal University of Rio Grande do Sul, Brazil

  • Knoesis, Wright State University, USA

  • Laboratory of Applied Ontology ISTC-CNR, Trento, Italy

  • University of New Brunswick, Canada

  • Both authors contributed equally to this manuscript

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  • Abstract: 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.
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  • Cite this article

    Alberto Olivares-Alarcos, Daniel Beßler, Alaa Khamis, Paulo Goncalves, Maki K. Habib, Julita Bermejo-Alonso, Marcos Barreto, Mohammed Diab, Jan Rosell, João Quintas, Joanna Olszewska, Hirenkumar Nakawala, Edison Pignaton, Amelie Gyrard, Stefano Borgo, Guillem Alenyà, Michael Beetz, Howard Li. 2019. A review and comparison of ontology-based approaches to robot autonomy. The Knowledge Engineering Review 34(1), doi: 10.1017/S0269888919000237
    Alberto Olivares-Alarcos, Daniel Beßler, Alaa Khamis, Paulo Goncalves, Maki K. Habib, Julita Bermejo-Alonso, Marcos Barreto, Mohammed Diab, Jan Rosell, João Quintas, Joanna Olszewska, Hirenkumar Nakawala, Edison Pignaton, Amelie Gyrard, Stefano Borgo, Guillem Alenyà, Michael Beetz, Howard Li. 2019. A review and comparison of ontology-based approaches to robot autonomy. The Knowledge Engineering Review 34(1), doi: 10.1017/S0269888919000237
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REVIEW   Open Access    

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

  • Institut de Robòtica i Informàtica Industrial, CSIC-UPC Llorens i Artigas 4-6, 08028Barcelona, Spain e-mail: aolivares@iri.upc.edu

  • Institute for Artificial Intelligence, University of Bremen, Germany e-mail: danielb@uni-bremen.de

  • Centre for Pattern Analysis and Machine Intelligence, University of Waterloo, Canada

  • IDMEC, Instituto Politécnico de Castelo Branco, Portugal

  • The American University in Cairo, Egypt

  • Universidad Isabel I, Burgos, Spain

  • Computer Science Dept., Federal University of Bahia, Brazil

  • Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain

  • Instituto Pedro Nunes, 3030-199Coimbra, Portugal

  • University of the West of Scotland, UK

  • Department of Computer Science, University of Verona, Italy

  • Informatics Institute, Federal University of Rio Grande do Sul, Brazil

  • Knoesis, Wright State University, USA

  • Laboratory of Applied Ontology ISTC-CNR, Trento, Italy

  • University of New Brunswick, Canada

  • Received: 15 June 2019
  • Revised: 18 November 2019
  • Accepted: 19 November 2019
  • Published online: 27 December 2019
The Knowledge Engineering Review  34,  2019, 34(1)  |  Cite this article

Abstract: Abstract: 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.

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    Acknowledgments

    • This work was partially funded by the following agencies: Deutsche Forschungsgemeinschaft (DFG) through the Collaborative Research Center EASE (1320); Regional Catalan Agency ACCIÓ through the RIS3CAT 2016 project SIMBIOTS (COMRDI16-1-0017); Spanish State Research Agency through the María de Maeztu Seal of Excellence to IRI (MDM-2016-0656); Spanish Government through the project DPI2016-80077-R and grant 2017; FCT, through IDMEC, under LAETA, project UID/EMS/50022/2019; Project 0043- EUROAGE-4-E (POCTEP Programa Interreg V-A Spain-Portugal). J. Olszewska was partially supported by Innovate UK.

    • https://standards.ieee.org/project/1872_1.html

    • https://standards.ieee.org/project/1872_2.html

    • http://wiki.ros.org/urdf

    • An end-effector is a device located at the end of a kinematic chain, designed to interact with the environment. Its task depends on the application of the robot.

    • http://www.ros.org/

    • https://www.iso.org/standard/55890.html

    • Term defined along the ISO 8373:2012.

    • https://ifr.org/downloads/press2018/Executive_Summary_WR_2018_Industrial_Robots.pdf

    • https://ifr.org/downloads/press2018/Executive_Summary_WR_Service_Robots_2018.pdf

    • https://www.webofknowledge.com/

    • http://knowrob.org/

    • https://github.com/knowrob/knowrob

    • https://ease-crc.org/

    • http://www.fp7rosetta.org/

    • https://github.com/jacekmalec/Rosetta_ontology

    • Robot standards and reference architectures Project.

    • Variant of the Knowledge Interchange Format (KIF), a knowledge representation language.

    • https://git.cs.lth.se/mathias/KIF_installation

    • AutomationML is an on-going standard initiative that aims at unifying data representation and APIs used by engineering tools, http://www.automationml.org/

    • https://github.com/srfiorini/IEEE1872-owl

    • https://github.com/pbsgoncalves/OROSU

    • https://github.com/MohammedDiab1/PMK

    • https://www.openrobots.org/wiki/oro-server/

    • https://www.openrobots.org/wiki/oro-ontology

    • http://www.opencyc.org/

    • https://github.com/severin-lemaignan/minimalkb

    • https://www.openrobots.org/wiki/oro-server-bindings

    • https://www.openrobots.org/wiki/oro-server-plugins

    • http://caressesrobot.org/en/

    • https://github.com/Suman7495/Robot-Navigation-for-Vision-Based-HAR

    • SRDL extends KnowRob with representations for robot hardware, robot software, and robot capabilities.

    • http://robobrain.me/index.html

    • http://ec2-54-228-52-230.eu-west-1.compute.amazonaws.com/rehabrobo/

    • https://ease-crc.org/ontology-survey-2019

    • Both authors contributed equally to this manuscript

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    Alberto Olivares-Alarcos, Daniel Beßler, Alaa Khamis, Paulo Goncalves, Maki K. Habib, Julita Bermejo-Alonso, Marcos Barreto, Mohammed Diab, Jan Rosell, João Quintas, Joanna Olszewska, Hirenkumar Nakawala, Edison Pignaton, Amelie Gyrard, Stefano Borgo, Guillem Alenyà, Michael Beetz, Howard Li. 2019. A review and comparison of ontology-based approaches to robot autonomy. The Knowledge Engineering Review 34(1), doi: 10.1017/S0269888919000237
    Alberto Olivares-Alarcos, Daniel Beßler, Alaa Khamis, Paulo Goncalves, Maki K. Habib, Julita Bermejo-Alonso, Marcos Barreto, Mohammed Diab, Jan Rosell, João Quintas, Joanna Olszewska, Hirenkumar Nakawala, Edison Pignaton, Amelie Gyrard, Stefano Borgo, Guillem Alenyà, Michael Beetz, Howard Li. 2019. A review and comparison of ontology-based approaches to robot autonomy. The Knowledge Engineering Review 34(1), doi: 10.1017/S0269888919000237
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