Page 28 - Read Online

Page 121 Bernardo et al. Intell Robot 2021;1(2):116-30 I http://dx.doi.org/10.20517/ir.2021.10

Figure 1. Global System, containing a Reasoning section that is based on an ontology, a Planning section that is based on the Planning
Domain Definition Language (PDDL), a relational database (MongoDB) that is queried using the ontology and ROSPlan, and a Robot section
that is based on robot controller, as well as its sensing and acting devices.

Stanford university. It is a java-based application (multi-platform), with plugins such as ontoViz to visualize
the ontologies. The backbone ofprotégé is thatitsupportsthe toolbuilders,domain specialists, andknowledge
engineers.

3.1.1. Domain specific ontology home environment
Figure 2 shows the main relationships of the developed domain-specific home environment ontology, which
was designed for an agent to interpret and interact with its surrounding environment. In this case, the envi-
ronment is a house, with special focus on the internal environment.

The developed model is subdivided into three main classes: Home_lab, Information, and Objects. The class
Home_lab is subdivided into class Environment, which is subdivided into internal and external environment.
The Indoor_environment is further subdivided into Hall, Corridor, and Rooms. The class Rooms is subdivided
into the possible rooms types of an house (bathroom, bedroom, kitchen, etc.). The class Information is sub-
divided into Information_Object. The Objects class is subdivided into Types_Devices that are subdivided into
Sensors and Actuators. The main class Objects is further subdivided into internal and external objects that
contemplate the objects that can be found in a home environment. Finally, the Objects class is subdivided into
PhysicalAgent, which is subdivided into the agents that can appear in the environment as human or robot, the
latter further subdivided into the different types of robots.

Figure 2 presents the hierarchical class where the main concepts defined in the ontology are visible as:

• Environment: Thesurroundingsorconditionsinwhichanagent, person, animal,orplantlivesoroperates.
• Indoor environment: Environment situated inside of a house or other building.
• Corridor: A long passage in a building from which doors lead into rooms.
• Hall: The room or space just inside the front entrance of a house or flat.
• Rooms: Space that can be occupied or where something can be done (kitchen, bedroom, etc).
• Outdoor Objects: Used to describe objects that exist or appear outside a home.
• Objects: Any physical, social, or mental object, or a substance. Following DOLCE, objects are always
participating in some event (at least their own life), and are spatially located (defined by: http://www.onto
logydesignpatterns.org/ont/dul/DUL.owl).
• Outdoor environment: Environment situated outside of a house or other building.