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Adding to the complexity, this type of environment is heterogeneous as it includes both free space and various types of rigid bodies (equipment, materials, humans etc.). At the same time, 3D environment-related information is also required by the virtual applications (e.g., VR techniques) for the behavioral study of CAD-based product models or simulation of CNC operations. In past research, information models for such heterogeneous 3D environments are often built without ensuring connection among different levels of abstractions required for different applications. For addressing such multiple points of view and modelling requirements for 3D objects and environments, this paper proposes an ontology model that integrates the contextual, topologic, and geometric information of both the rigid bodies and the free space. The ontology provides an evolvable knowledge model that can support simulated task-related information in general. This ontology aims to greatly improve interoperability as a path planning system (e.g., robot) and will be able to deal with different applications by simply updating the contextual semantics related to some targeted application while keeping the geometric and topological models intact by leveraging the semantic link among the models.<\/jats:p>","DOI":"10.3233\/sw-233460","type":"journal-article","created":{"date-parts":[[2023,12,19]],"date-time":"2023-12-19T12:26:40Z","timestamp":1702988800000},"page":"613-640","source":"Crossref","is-referenced-by-count":1,"title":["An ontology of 3D environment where a simulated manipulation task takes place (ENVON)"],"prefix":"10.1177","volume":"15","author":[{"given":"Yingshen","family":"Zhao","sequence":"first","affiliation":[{"name":"INP-ENIT, Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es, Tarbes, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Arkopaul","family":"Sarkar","sequence":"additional","affiliation":[{"name":"INP-ENIT, Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es, Tarbes, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Linda","family":"Elmhadhbi","sequence":"additional","affiliation":[{"name":"INSA Lyon, DISP EA4570, Lyon, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mohamed\u00a0Hedi","family":"Karray","sequence":"additional","affiliation":[{"name":"INP-ENIT, Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es, Tarbes, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Philippe","family":"Fillatreau","sequence":"additional","affiliation":[{"name":"INP-ENIT, Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es, Tarbes, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bernard","family":"Archim\u00e8de","sequence":"additional","affiliation":[{"name":"INP-ENIT, Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es, Tarbes, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","reference":[{"issue":"1","key":"10.3233\/SW-233460_ref1","doi-asserted-by":"publisher","first-page":"137","DOI":"10.1080\/0952813X.2018.1544280","article-title":"Knowledge-oriented task and motion planning for multiple mobile robots","volume":"31","author":"Akbari","year":"2019","journal-title":"J. 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