# Ontology-Based Knowledge Representation in Robotic Systems: A Survey Oriented toward Applications
## 3 Analysis of Knowledge Representation Systems
### Application Domain Scope  
The first criterion, shown in Table 2, to analyze the KRSs, is fulfilled by categorizing them according to their application domain. In this subsection, we thoroughly examine the domain of each selected robotic KRS and distribute them by application. The most demanding applications of autonomous robots have gained interest in the industrial, medical, and domestic domain, in which knowledge representation provides meaning to input data that a robot uses to perform delegated tasks. The criteria based on the domain and application scope are listed in Table 3.  
The KnowRob [68] KRS was designed to perform household manipulation tasks, particularly in an assistive kitchen project. Its framework is reusable on a wide range of robotic platforms. Additionally, it is a software product that is developed by the RoboEarth [13] project for creating the World Wide Web of robotics with the aim of downloading the instruction set to perform a task and upload the learned model for sharing it with other robots. It enables the robots to perform goal-oriented manipulation tasks. Starting from [78], OROSU [69] maps the robotic ontologies in the medical domain with applications to a surgical procedure, inspired by [78] for hip resurfacing. CARESSES [70] targets the domain of assistive robots for elderly support. It builds an interaction between a culturally competent assistive robot and an elderly person for performing everyday tasks. PMK [71] was developed to enhance robotic capabilities for performing manipulation tasks and motion planning (TAMP) in a wide range of scenarios such as serving a cup in an indoor environment. SARbot [72] introduces robotic application in the disaster search and rescue (SAR) domain. It represents the knowledge using an ontology that enables the robot to better \begin{table}
\begin{tabular}{p{142.3 pt} p{142.3 pt} p{142.3 pt}} \hline \hline
**KRS** & **Domain** & **Application** \\ \hline
**KnowRob** & Domestic & Household manipulation task in the kitchen \\ \hline
**OROSU** & Medical/hospital & Performs surgical procedures \\ \hline
**CARESSES** & Domestic & Culturally competent assistive robot for elderly people \\ \hline
**PMK** & Domestic & Indoor manipulation and motion planning to perform tasks such as serving a cup \\ \hline
**SARbot** & Domestic & Disaster search and rescue operations \\ \hline
**IEQ** & Domestic & An interactive humanoid social robot that provides suggestions \\ \hline
**SmartRules** & Domestic & Monitoring and assisting elderly people \\ \hline
**ARBI** & Medical/hospital & Performs the duty of robotic receptionist in the hospital \\ \hline
**Worker-cobot** & Industrial/manufacturing & Establishes collaboration between human workers and industrial robots \\ \hline
**APRS** & Industrial/manufacturing & Kit building \\ \hline \hline \end{tabular}
\end{table} 
Table 3: KRSs: domain and application scope. understand the environment for search and rescue operations and o make smart decisions using the ontology-based task planning algorithm. IEQ [73] employs a knowledge representation approach that enables social humanoid robots to have cognitive capabilities to interact with the people in the building and provides them with suggestions for real-time monitoring of IEQ. The KRS of SmartRules [74] for the Internet of Robotic Things (IoRT) systems was developed during the SemBySem and Web of Objects projects. It shows effectiveness in ambient assisted living (AAL) applications using the semantic IoRT system to help elderly people who suffer due to perceptual and mobility impairments by providing them assistance through monitoring their daily living activities. Its use cases involve medicine reminders, fall detection, emergency confirmation, activity recognition for food preparation, and providing dietary advice. The application of ARBI [75] involves a social robot Turtlebot2 that uses a scalable knowledge model and acts as a medical receptionist in a hospital.