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Bernardo et al. Intell Robot 2021;1(2):116-30 I http://dx.doi.org/10.20517/ir.2021.10 Page 122

Figure 2. Snapshot of the main ontology (relations is-a).

• Information: Facts provided or learned about something or someone.
• Information_Object: They are messages performed by some entity [46] . They are ordered (expressed in ac-
cordance with) by some information encoding system (e.g., sensors present in the agent). They can express
a description(the ontological equivalent ofa meaning/conceptualization), they can be about any entity, and
they can be interpreted by an agent.
• Indoor Objects: Used to describe objects that exist or appear inside a home.
• Outdoor Objects: Used to describe objects that exist or appear outside a home.
• Physical Agent: Any agentive Object, either physical (e.g., a whale, a robot, or an oak tree) or social (e.g., a
corporation, an institution, or a community) (defined by: http://www.ontologydesignpatterns.org/ont/dul
/DUL.owl).
• Mobile robot: Robot that is able to move in the surrounding (locomotion) (i.e., autonomous mobile robot
and autonomous mobile and manipulator robot).
• Not mobile robot: Robot that is not able to move in its surroundings (i.e., robot arm).
• Types Devices: Acollectionofproperties thatdefinedifferentcomponentsandbehaviorsofatype ofdevice
(actuators, sensors, etc.).

The properties of objects and the spatial relationships between them represent the characteristics of the envi-
ronment andthe spatial arrangement, respectively. Several Objectproperties were created to relate the different
concepts, so that an agent can characterize its surrounding environment:

• ObjectProperty: • LocationProperty:
– belowOf ; – isConnectedTo.
– isMember; • AgentProperty:
– isObjectOf; – isGoingTo;
– isPartOf; – isIn.
– LeftOf;
– onTopOf;
– RightOf.

The object properties were defined to make explicit the relationships between concepts. The properties be-
lowOf, LeftOf, onTopOf, and RightOf were created to define the relationships between the different concepts of
Indoor_Objects and Outdoor_Objects. Through these, the agent can identify the disposition of objects in the
environment, creating relationships about them (e.g., based on Figure 3, if an agent has to guide an elderly per-
son to the chair that is in the room, it knows that it is on the right side of the bed). The property isConnectedTo