Ontoslam: An ontology for representing location and simultaneous mapping information for autonomous robots

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dc.contributor.authorCornejo-Lupa, M.A.
dc.contributor.authorCardinale, Y.
dc.contributor.authorTicona-Herrera, R.
dc.contributor.authorBarrios Aranibar, D.
dc.contributor.authorAndrade, M.
dc.contributor.authorDiaz-Amado, J.
dc.date.accessioned2022-03-10T16:41:49Z
dc.date.available2022-03-10T16:41:49Z
dc.date.issued2021
dc.description.abstract"Autonomous robots are playing an important role to solve the Simultaneous Localization and Mapping (SLAM) problem in different domains. To generate flexible, intelligent, and interopera-ble 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. © 2021 by the authors. Licensee MDPI, Basel, Switzerland"es_PE
dc.description.uriTrabajo académicoes_PE
dc.identifier.doi10.3390/robotics10040125es_PE
dc.identifier.issn22186581
dc.identifier.urihttps://hdl.handle.net/20.500.12590/17045
dc.language.isoenges_PE
dc.publisherMDPIes_PE
dc.publisher.countryPEes_PE
dc.relationinfo:eu-repo/semantics/articlees_PE
dc.relation.urihttps://www.scopus.com/record/display.uri?eid=2-s2.0-85119898686&origin=resultslist&sort=plf-f&src=s&nlo=&nlr=&nls=&sid=bf6bae9a56b2331387d9f5550bd7ed65&sot=aff&sdt=cl&cluster=scopubyr%2c%222021%22%2ct&sl=48&s=AF-ID%28%22Universidad+Cat%c3%b3lica+San+Pablo%22+60105300%29&relpos=2&citeCnt=0&searchTerm=&featureToggles=FEATURE_NEW_DOC_DETAILS_EXPORT:1es_PE
dc.rightsinfo:eu-repo/semantics/restrictedAccesses_PE
dc.sourceUniversidad Católica San Pabloes_PE
dc.sourceRepositorio Institucional - UCSPes_PE
dc.subjectAutonomous and mobile robotses_PE
dc.subjectOntologies evaluationes_PE
dc.subjectOntologyes_PE
dc.subjectSLAMes_PE
dc.subject.ocdehttps://purl.org/pe-repo/ocde/ford#1.02.01es_PE
dc.titleOntoslam: An ontology for representing location and simultaneous mapping information for autonomous robotses_PE
dc.typeinfo:eu-repo/semantics/article
dc.type.versioninfo:eu-repo/semantics/publishedVersiones_PE
renati.typehttps://purl.org/pe-repo/renati/type#tesis
thesis.degree.disciplineCiencia de la Computaciónes_PE
thesis.degree.grantorUniversidad Católica San Pablo. Departamento de Ciencia de la Computaciónes_PE
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