{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:33:44Z","timestamp":1760236424482,"version":"build-2065373602"},"reference-count":44,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2021,11,21]],"date-time":"2021-11-21T00:00:00Z","timestamp":1637452800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"FONDECYT\/CONCYTEC  PERU","award":["1 2019"],"award-info":[{"award-number":["1 2019"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Autonomous robots are playing an important role to solve the Simultaneous Localization and Mapping (SLAM) problem in different domains. To generate flexible, intelligent, and interoperable solutions for SLAM, it is a must to model the complex knowledge managed in these scenarios (i.e., robots characteristics and capabilities, maps information, locations of robots and landmarks, etc.) with a standard and formal representation. Some studies have proposed ontologies as the standard representation of such knowledge; however, most of them only cover partial aspects of the information managed by SLAM solutions. In this context, the main contribution of this work is a complete ontology, called OntoSLAM, to model all aspects related to autonomous robots and the SLAM problem, towards the standardization needed in robotics, which is not reached until now with the existing SLAM ontologies. A comparative evaluation of OntoSLAM with state-of-the-art SLAM ontologies is performed, to show how OntoSLAM covers the gaps of the existing SLAM knowledge representation models. Results show the superiority of OntoSLAM at the Domain Knowledge level and similarities with other ontologies at Lexical and Structural levels. Additionally, OntoSLAM is integrated into the Robot Operating System (ROS) and Gazebo simulator to test it with Pepper robots and demonstrate its suitability, applicability, and flexibility. Experiments show how OntoSLAM provides semantic benefits to autonomous robots, such as the capability of inferring data from organized knowledge representation, without compromising the information for the application and becoming closer to the standardization needed in robotics.<\/jats:p>","DOI":"10.3390\/robotics10040125","type":"journal-article","created":{"date-parts":[[2021,11,21]],"date-time":"2021-11-21T21:02:06Z","timestamp":1637528526000},"page":"125","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["OntoSLAM: An Ontology for Representing Location and Simultaneous Mapping Information for Autonomous Robots"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1598-4140","authenticated-orcid":false,"given":"Maria A.","family":"Cornejo-Lupa","sequence":"first","affiliation":[{"name":"Computer Science Deparment, Universidad Cat\u00f3lica San Pablo, Arequipa 04001, Peru"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5966-0113","authenticated-orcid":false,"given":"Yudith","family":"Cardinale","sequence":"additional","affiliation":[{"name":"Electrical and Electronics Engineering Department, Universidad Cat\u00f3lica San Pablo, Arequipa 04001, Peru"},{"name":"Department of Computer Science, Universidad Sim\u00f3n Bol\u00edvar, Caracas 1086, Venezuela"}]},{"given":"Regina","family":"Ticona-Herrera","sequence":"additional","affiliation":[{"name":"Computer Science Deparment, Universidad Cat\u00f3lica San Pablo, Arequipa 04001, Peru"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7482-3390","authenticated-orcid":false,"given":"Dennis","family":"Barrios-Aranibar","sequence":"additional","affiliation":[{"name":"Electrical and Electronics Engineering Department, Universidad Cat\u00f3lica San Pablo, Arequipa 04001, Peru"}]},{"given":"Manoel","family":"Andrade","sequence":"additional","affiliation":[{"name":"Instituto Federal da Bahia, Vitoria da Conquista 45078-300, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8447-784X","authenticated-orcid":false,"given":"Jose","family":"Diaz-Amado","sequence":"additional","affiliation":[{"name":"Electrical and Electronics Engineering Department, Universidad Cat\u00f3lica San Pablo, Arequipa 04001, Peru"},{"name":"Instituto Federal da Bahia, Vitoria da Conquista 45078-300, Brazil"}]}],"member":"1968","published-online":{"date-parts":[[2021,11,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1007\/s11948-015-9649-x","article-title":"A survey of expectations about the role of robots in robot-assisted therapy for children with ASD: Ethical acceptability, trust, sociability, appearance, and attachment","volume":"22","author":"Coeckelbergh","year":"2016","journal-title":"Sci. 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