Los robots autónomos están desempeñando un papel importante en las actividades académicas, tecnológicas y científicas. Por lo tanto, su comportamiento es cada vez más complejo. Las principales tareas de los robots autónomos incluyen mapear un entorno y localizarse a sí mismos. Estas tareas comprenden el problema de localización y mapeo simultáneos (SLAM). La representación del conocimiento de SLAM (p. ej., características del robot, información del entorno, información de mapeo y ubicación), con un modelo estándar y bien definido, proporciona la base para desarrollar soluciones eficientes e interoperables. Sin embargo, hasta donde sabemos, no existe una clasificación común de tales conocimientos. Muchos trabajos existentes basados ​​en la Web Semántica han formulado ontologías para modelar información relacionada solo con algunos aspectos de SLAM, sin un arreglo...

Autonomous robots are playing important roles in academic, technological, and scientific activities. Thus, their behavior is getting more complex, particularly, in tasks related to mapping an environment and localizing themselves. These tasks comprise the Simultaneous Localization and Mapping (SLAM) problem. Representation of knowledge related to the SLAM problem with a standard, flexible, and well-defined model, provides the base to develop efficient and interoperable solutions. As many existing works demonstrate, Semantic Web seems to be a clear approach, since they have formulated ontologies, as the base data model to represent such knowledge. In this article, we survey the most popular and recent SLAM ontologies with our aim being threefold: (i) propose a classification of SLAM ontologies according to the main knowledge needed to model the SLAM problem; (ii) identify existing ontolog...

Representation of the knowledge related to any domain with flexible and well-defined models, such as ontologies, provides the base to develop efficient and interoperable solutions. Hence, a proliferation of ontologies in many domains is unleashed. It is necessary to define how to compare such ontologies to decide which one is the most suitable for specific needs of users/developers. Since the emerging developing of ontologies, several studies have proposed criteria to evaluate them. Nevertheless, there is still a lack of practical and reproducible guidelines to drive a comparative evaluation of ontologies as a systematic process. In this paper, we propose a methodological process to qualitatively and quantitatively compare ontologies at Lexical, Structural, and Domain Knowledge levels, considering Correctness and Quality perspectives. Since the evaluation methods of our proposal are base...

The research has received funding from FONDO NACIONAL DE DESARROLLO CIENTÍFICO, TECNOLÓGICO Y DE INNOVACIÓN TECNOLÓGICA - FONDECYT as executing entity of CONCYTEC under grant agreement no. 01–2019-FONDECYT-BM-INC.INV in the project RUTAS: Robots for Urban Tourism, Autonomous and Semantic Web-based.