{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T04:30:48Z","timestamp":1772771448746,"version":"3.50.1"},"reference-count":73,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2016,8,15]],"date-time":"2016-08-15T00:00:00Z","timestamp":1471219200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2016,8,15]]},"abstract":"\nPurpose<\/jats:title>\nIEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the autonomous robotics (AuR) subgroup. This group aims to extend the core ontology for robotics and automation to represent more specific concepts and axioms that are commonly used in autonomous robots.<\/jats:p>\n<\/jats:sec>\n\nDesign\/methodology\/approach<\/jats:title>\nFor autonomous robots, various concepts for aerial robots, underwater robots and ground robots are described. Components of an autonomous system are defined, such as robotic platforms, actuators, sensors, control, state estimation, path planning, perception and decision-making.<\/jats:p>\n<\/jats:sec>\n\nFindings<\/jats:title>\nAuR has identified the core concepts and domains needed to create an ontology for autonomous robots.<\/jats:p>\n<\/jats:sec>\n\nPractical implications<\/jats:title>\nAuR targets to create a standard ontology to represent the knowledge and reasoning needed to create autonomous systems that comprise robots that can operate in the air, ground and underwater environments. The concepts in the developed ontology will endow a robot with autonomy, that is, endow robots with the ability to perform desired tasks in unstructured environments without continuous explicit human guidance.<\/jats:p>\n<\/jats:sec>\n\nOriginality\/value<\/jats:title>\nCreating a standard for knowledge representation and reasoning in autonomous robotics will have a significant impact on all R&A domains, such as on the knowledge transmission among agents, including autonomous robots and humans. This tends to facilitate the communication among them and also provide reasoning capabilities involving the knowledge of all elements using the ontology. This will result in improved autonomy of autonomous systems. The autonomy will have considerable impact on how robots interact with humans. As a result, the use of robots will further benefit our society. Many tedious tasks that currently can only be performed by humans will be performed by robots, which will further improve the quality of life. To the best of the authors\u2019knowledge, AuR is the first group that adopts a systematic approach to develop ontologies consisting of specific concepts and axioms that are commonly used in autonomous robots.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-02-2016-0059","type":"journal-article","created":{"date-parts":[[2016,9,6]],"date-time":"2016-09-06T10:09:44Z","timestamp":1473156584000},"page":"469-480","source":"Crossref","is-referenced-by-count":39,"title":["Requirements for building an ontology for autonomous robots"],"prefix":"10.1108","volume":"43","author":[{"given":"Behzad","family":"Bayat","sequence":"first","affiliation":[]},{"given":"Julita","family":"Bermejo-Alonso","sequence":"additional","affiliation":[]},{"given":"Joel","family":"Carbonera","sequence":"additional","affiliation":[]},{"given":"Tullio","family":"Facchinetti","sequence":"additional","affiliation":[]},{"given":"Sandro","family":"Fiorini","sequence":"additional","affiliation":[]},{"given":"Paulo","family":"Goncalves","sequence":"additional","affiliation":[]},{"given":"Vitor A.M.","family":"Jorge","sequence":"additional","affiliation":[]},{"given":"Maki","family":"Habib","sequence":"additional","affiliation":[]},{"given":"Alaa","family":"Khamis","sequence":"additional","affiliation":[]},{"given":"Kamilo","family":"Melo","sequence":"additional","affiliation":[]},{"given":"Bao","family":"Nguyen","sequence":"additional","affiliation":[]},{"given":"Joanna Isabelle","family":"Olszewska","sequence":"additional","affiliation":[]},{"given":"Liam","family":"Paull","sequence":"additional","affiliation":[]},{"given":"Edson","family":"Prestes","sequence":"additional","affiliation":[]},{"given":"Veera","family":"Ragavan","sequence":"additional","affiliation":[]},{"given":"Sajad","family":"Saeedi","sequence":"additional","affiliation":[]},{"given":"Ricardo","family":"Sanz","sequence":"additional","affiliation":[]},{"given":"Mae","family":"Seto","sequence":"additional","affiliation":[]},{"given":"Bruce","family":"Spencer","sequence":"additional","affiliation":[]},{"given":"Amirkhosro","family":"Vosughi","sequence":"additional","affiliation":[]},{"given":"Howard","family":"Li","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"issue":"1","key":"key2020121322571458300_ref001","doi-asserted-by":"crossref","first-page":"451","DOI":"10.1145\/1047124.1047359","article-title":"Resolved: objects early has failed","volume":"37","year":"2005","journal-title":"ACM SIGCSE Bulletin"},{"key":"key2020121322571458300_ref002","article-title":"Robot teams: from diversity to polymorphism","volume-title":"AK Peters Series","year":"2002"},{"key":"key2020121322571458300_ref003","first-page":"366","article-title":"Modelling models of robot navigation using formal spatial ontology","volume-title":"SC\u201904 Proceedings of the 4th International Conference on Spatial Cognition: Reasoning, Action, Interaction","year":"2005"},{"issue":"1","key":"key2020121322571458300_ref004","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1504\/IJIDSS.2011.037806","article-title":"Cooperation in distributed surveillance systems for dense regions","volume":"4","year":"2011","journal-title":"International Journal of Intelligent Defence Support Systems"},{"key":"key2020121322571458300_ref005","volume-title":"Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications","year":"2011","edition":"3rd ed."},{"key":"key2020121322571458300_ref006","first-page":"1867","article-title":"Defining positioning in a core ontology for robotics","year":"2013"},{"key":"key2020121322571458300_ref007","volume-title":"Principles of Robot Motion: Theory, Algorithms, and Implementation","year":"2005"},{"key":"key2020121322571458300_ref008","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1016\/j.websem.2012.05.003","article-title":"The SSN ontology of the W3C semantic sensor network incubator group","volume":"17","year":"2012","journal-title":"Web Semantics: Science, Services and Agents on the World Wide Web"},{"key":"key2020121322571458300_ref009","first-page":"407","article-title":"Perceptual anchoring of symbols for action","year":"2001"},{"issue":"1","key":"key2020121322571458300_ref010","doi-asserted-by":"crossref","first-page":"13","DOI":"10.20965\/jaciii.2010.p0013","article-title":"Auction-based consensus mechanism for cooperative tracking in multi-sensor surveillance systems","volume":"14","year":"2010","journal-title":"Journal of Advanced Computational Intelligence and Intelligent Informatics"},{"key":"key2020121322571458300_ref011","volume-title":"Multi-Agent Systems: An Introduction to Distributed Artificial Intelligence","year":"1999"},{"key":"key2020121322571458300_ref012","unstructured":"Fiorini, S.R. and Abel, M. (2010), \u201cA review on knowledge-based computer vision\u201d, Technical Report, UFRGS, Porto Alegre."},{"key":"key2020121322571458300_ref013","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1016\/j.rcim.2014.08.004","article-title":"Extensions to the core ontology for robotics and automation","volume":"33","year":"2015","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"issue":"2","key":"key2020121322571458300_ref014","doi-asserted-by":"crossref","first-page":"59","DOI":"10.1109\/MC.2006.65","article-title":"Model-driven development using UML 2.0: promises and pitfalls","volume":"39","year":"2006","journal-title":"Computer"},{"key":"key2020121322571458300_ref015","article-title":"Objects have failed","year":"2002"},{"issue":"2","key":"key2020121322571458300_ref016","doi-asserted-by":"crossref","first-page":"327","DOI":"10.1007\/s10846-013-0012-7","article-title":"A vision system for robotic ultrasound guided orthopaedic surgery","volume":"77","year":"2015","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"key2020121322571458300_ref017","first-page":"151","article-title":"An overview of ONTOCLEAN","volume-title":"Handbook on Ontologies, International Handbooks on Information Systems","year":"2004"},{"key":"key2020121322571458300_ref018","first-page":"1358","article-title":"Distributed teleportation and collaborative environment for robotics e-learning and cooperation","year":"2008"},{"key":"key2020121322571458300_ref019","first-page":"340","article-title":"Collaborative and distributed intelligent environment merging virtual and physical realities","year":"2011"},{"key":"key2020121322571458300_ref020","article-title":"Multi robotic system and the development of cooperative mine clearance and navigation behaviors","year":"2011"},{"key":"key2020121322571458300_ref021","first-page":"191","article-title":"A3ME-an agent-based middleware approach for mixed mode environments","year":"2008"},{"key":"key2020121322571458300_ref022","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2012\/698046","article-title":"Minefield mapping using cooperative multirobot systems","volume":"2012","year":"2012","journal-title":"Journal of Robotics"},{"key":"key2020121322571458300_ref024","first-page":"31","article-title":"Multi-robot task allocation: a review of the state-of-the-art","volume-title":"Cooperative Robots and Sensor Networks","year":"2015"},{"key":"key2020121322571458300_ref023","first-page":"1499","article-title":"Cooperation: concepts and general typology","year":"2006"},{"key":"key2020121322571458300_ref025","first-page":"338","article-title":"Transformation from CIM to PIM using patterns and archetypes","year":"2008"},{"key":"key2020121322571458300_ref026","article-title":"The problematic nexus: where unmanned combat air vehicles and the law of armed conflict meet","year":"2003","journal-title":"Air & Space Power Journal"},{"key":"key2020121322571458300_ref027","volume-title":"MDA Explained: The Model Driven Architecture: Practice and Promise","year":"2003"},{"key":"key2020121322571458300_ref028","volume-title":"Real-Time Systems: Design Principles for Distributed Embedded Applications","year":"2011"},{"key":"key2020121322571458300_ref029","first-page":"390","article-title":"Specification of an ontology for route graphs","year":"2005"},{"key":"key2020121322571458300_ref030","first-page":"223","article-title":"Converting natural language route instructions into robot executable procedures","year":"2002"},{"key":"key2020121322571458300_ref031","article-title":"A software framework for multi-agent control of multiple autonomous underwater vehicles for underwater mine counter-measures","year":"2010"},{"key":"key2020121322571458300_ref032","first-page":"401","article-title":"Integrating ontological domain knowledge into a robotic DSL","volume-title":"Models in Software Engineering","year":"2011"},{"key":"key2020121322571458300_ref033","first-page":"1475","article-title":"Walk the talk: connecting language, knowledge, and action in route instructions","year":"2006"},{"issue":"1","key":"key2020121322571458300_ref034","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1007\/s00138-004-0142-9","article-title":"Towards ontology-based cognitive vision","volume":"16","year":"2004","journal-title":"Machine Vision and Applications"},{"key":"key2020121322571458300_ref035","article-title":"A knowledge representation framework for autonomous underwater vehicles (AUVs)","year":"2012"},{"issue":"1","key":"key2020121322571458300_ref036","first-page":"1","article-title":"Control and navigation framework for QUADROTOR helicopters","volume":"70","year":"2013","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"key2020121322571458300_ref037","article-title":"Construction, modeling and control of a QUADROTOR for target localization","year":"2015"},{"issue":"3","key":"key2020121322571458300_ref038","doi-asserted-by":"crossref","first-page":"786","DOI":"10.1109\/TASE.2015.2424865","article-title":"Probabilistic cooperative target localization","volume":"12","year":"2015","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"key":"key2020121322571458300_ref039","volume-title":"Constraint-Based Agents: An Architecture for Constraint-Based Modeling and Local-Search-Based Reasoning for Planning and Scheduling in Open and Dynamic Worlds","year":"2001"},{"key":"key2020121322571458300_ref040","first-page":"4","article-title":"Origins of the ieee standard upper ontology","year":"2001"},{"key":"key2020121322571458300_ref041","first-page":"29","article-title":"Towards a standard upper ontology","year":"2001"},{"key":"key2020121322571458300_ref042","first-page":"779","article-title":"Multi-target parametric active contours to support ontological domain representation","year":"2012"},{"key":"key2020121322571458300_ref043","first-page":"220","article-title":"Alliance: an architecture for fault tolerant multirobot cooperation","year":"1998"},{"key":"key2020121322571458300_ref044","first-page":"835","article-title":"An information gain based adaptive path planning method for an autonomous underwater vehicle using side scan sonar","year":"2010"},{"key":"key2020121322571458300_ref046","first-page":"1827","article-title":"Sensor-driven online coverage planning for autonomous underwater vehicles","year":"2013"},{"key":"key2020121322571458300_ref047","article-title":"Area coverage planning that accounts for pose uncertainty with an auv seabed surveying application","year":"2014"},{"key":"key2020121322571458300_ref045","first-page":"1359","article-title":"Towards an ontology for autonomous robots","year":"2012"},{"issue":"11","key":"key2020121322571458300_ref048","doi-asserted-by":"crossref","first-page":"1193","DOI":"10.1016\/j.robot.2013.04.005","article-title":"Towards a core ontology for robotics and automation","volume":"61","year":"2013","journal-title":"Robotics and Autonomous Systems"},{"issue":"2","key":"key2020121322571458300_ref049","first-page":"5","article-title":"ROS: an open-source robot operating system","volume":"3","year":"2009","journal-title":"ICRA Workshop on Open Source Software"},{"key":"key2020121322571458300_ref050","first-page":"609","article-title":"A general telematics framework for autonomous service robots","year":"2007"},{"key":"key2020121322571458300_ref051","doi-asserted-by":"crossref","first-page":"114","DOI":"10.1016\/j.robot.2015.05.003","article-title":"Unified meta-modeling framework using bond graph grammars for conceptual modeling","volume":"72","year":"2015","journal-title":"Robotics and Autonomous Systems"},{"key":"key2020121322571458300_ref052","volume-title":"Artificial Intelligence: Modern Approach","year":"1995"},{"issue":"2","key":"key2020121322571458300_ref057","first-page":"149","article-title":"Occupancy grid map merging for multiple robot simultaneous localization and mapping","volume":"30","year":"2015","journal-title":"International Journal of Robotics and Automation"},{"key":"key2020121322571458300_ref053","first-page":"4419","article-title":"Efficient map merging using a probabilistic generalized VORONOI diagram","year":"2012"},{"issue":"2","key":"key2020121322571458300_ref055","first-page":"60","article-title":"Group mapping: a topological approach to map merging for multiple robots","volume":"21","year":"2014"},{"key":"key2020121322571458300_ref058","first-page":"326","article-title":"Fast Monte Carlo localization of AUV using acoustic range measurement","year":"2015"},{"issue":"1","key":"key2020121322571458300_ref061","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1002\/rob.21620","article-title":"Multiplerobot simultaneous localization and mapping: a review","volume":"33","year":"2016","journal-title":"Journal of Field Robotics"},{"key":"key2020121322571458300_ref062","first-page":"1337","article-title":"An IEEE standard ontology for robotics and automation","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","year":"2012"},{"key":"key2020121322571458300_ref064","first-page":"96","article-title":"A literature review of sensor ontologies for manufacturing applications","volume-title":"IEEE International Symposium on Robotic and Sensors Environments (ROSE)","year":"2013"},{"key":"key2020121322571458300_ref065","unstructured":"Schmidt, K. (1990), \u201cAnalysis of cooperative work: a conceptual framework\u201d, Technical Report, Risoe-M-2890, Risoe-National-Laboratory, Roskilde."},{"key":"key2020121322571458300_ref066","volume-title":"Introduction to Autonomous Mobile Robots","year":"2011"},{"issue":"1","key":"key2020121322571458300_ref067","first-page":"707","article-title":"Efficient informative sensing using multiple robots","volume":"34","year":"2009","journal-title":"Journal of Artificial Intelligence Research"},{"issue":"3","key":"key2020121322571458300_ref068","first-page":"3","article-title":"Ontology: towards a new synthesis","volume":"10","year":"2001","journal-title":"Formal Ontology in Information Systems"},{"issue":"14","key":"key2020121322571458300_ref069","doi-asserted-by":"crossref","first-page":"464","DOI":"10.1093\/bioinformatics\/btl207","article-title":"An ontology for a robot scientist","volume":"22","year":"2006","journal-title":"Bioinformatics"},{"issue":"1\/2","key":"key2020121322571458300_ref070","first-page":"161","article-title":"Knowledge engineering: principles and methods","volume":"25","year":"1998","journal-title":"Data and Knowledge Engineering"},{"issue":"2","key":"key2020121322571458300_ref071","first-page":"69","article-title":"RoboEarth","volume":"18","year":"2011"},{"key":"key2020121322571458300_ref072","article-title":"Enabling sensor webs by utilizing SWAMO for autonomous operations","year":"2008"},{"issue":"2","key":"key2020121322571458300_ref073","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1017\/S0269888900008122","article-title":"Intelligent agents: theory and practice","volume":"10","year":"1995","journal-title":"The Knowledge Engineering Review"},{"issue":"3","key":"key2020121322571458300_ref074","doi-asserted-by":"crossref","first-page":"317","DOI":"10.1145\/958961.958963","article-title":"Developing multiagent systems: the Gaia methodology","volume":"12","year":"2003","journal-title":"ACM Transactions on Software Engineering and Methodology (TOSEM)"},{"key":"key2020121322571458300_ref075","first-page":"4683","article-title":"Map merging using hough peak matching","year":"2012"},{"issue":"10","key":"key2020121322571458300_ref076","doi-asserted-by":"crossref","first-page":"1408","DOI":"10.1016\/j.robot.2014.06.002","article-title":"Map merging for multiple robots using hough peak matching","volume":"62","year":"2014","journal-title":"Robotics and Autonomous Systems"},{"issue":"2\/3","key":"key2020121322571458300_ref077","doi-asserted-by":"crossref","first-page":"62","DOI":"10.1108\/IJIUS-10-2014-0008","article-title":"The cobra fixed-wing georeferenced imagery dataset","volume":"3","year":"2015","journal-title":"International Journal of Intelligent Unmanned Systems"},{"key":"key2020121322571458300_ref078","first-page":"3421","article-title":"A hybrid approach for multiple-robot slam with particle filtering","year":"2015"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/IR-02-2016-0059","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-02-2016-0059\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-02-2016-0059\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:38:22Z","timestamp":1753393102000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/43\/5\/469-480\/180775"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,8,15]]},"references-count":73,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2016,8,15]]}},"alternative-id":["10.1108\/IR-02-2016-0059"],"URL":"https:\/\/doi.org\/10.1108\/ir-02-2016-0059","relation":{},"ISSN":["0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2016,8,15]]}}}