# Ontology-Based Knowledge Representation in Robotic Systems: A Survey Oriented toward Applications
## 3 Analysis of Knowledge Representation Systems
### Idea and Contribution  
Focusing on the semantic frameworks for robots that go beyond the local knowledge bases for building a knowledge-enabled cloud-based system, KnowRob 2.0 [68], an extension of [14], is considered the most advanced knowledge representation and reasoning system, which relies on ontologies and semantic web technologies. Its core purpose is to integrate the physics simulation-based reasoning and photo-realistic rendering techniques of the game engine into a hybrid knowledge processing architecture for successfully mastering the autonomous robotic agents to perform complex manipulation tasks with additional cognitive capabilities in a human-centric environment. The main purpose of the OROSU [69] framework is to develop a KBS for human surgeries using robotic assistance by integrating healthcare ontologies and robotic systems. It also aims at tracking the robotic actions and adopting robot pose in drilling tasks during medical surgical procedures. The idea of CARESSES [70] is to define a system that endows the autonomous robot with communication skills through speech and gesture recognition including perception abilities for semantic recognition, as well as the cultural competence to determine the robot's behavior. It also aims at enabling the robot to adapt to the culture of the individual for perceiving, acting, reasoning, planning, and decision making based on the culturally aware capabilities. PMK [71] contributes to both knowledge formulation and reasoning. The purpose of the PMK knowledge base reasoning framework is to formalize and standardize the ontological representation that contains low-level semantic data for robot perception and high-level information of the environment for manipulation tasks. The current version of PMK [71] aims at including the sensing information, semantic reasoning to handle the differences, standardized ontological concepts, and geometric and spatial reasoning knowledge for the combined task with motion planning, which was not covered in its preliminary version [79]. The main purpose of developing SARbot [72] is to perform complex robotic tasks in disaster search and rescue scenarios that involve exploring an unknown environment, locating the victims, and sending back their information immediately [80; 81]. It emphasizes high-level control, supports the decision making of the robot using the ontology, and efficiently updates the task knowledge. IEQ is vital to ensure the well-being and comfort [82; 83] of the people working or living inside a building. To overcome these challenges, the KRS of IEQ monitoring [73] aims to address three types of comfort: visual, thermal, and acoustic, following six norms for monitoring IEQ using a social robot. It mainly contributes to the development of the IEQ ontology, the definition of normative standards, and algorithm compliance reasoning. It finally implements this on an interactive social robotic platform that gives appropriate suggestions after evaluation according to the preferences of the individuals and the integration of actual IEQ data with the post occupancy evaluation (POE) [84] survey information obtained from the person. The concept of the semantic IoRT introduced in SmartRules [74] presents a semantic framework for context-aware IoRT systems concentrating on monitoring and assisting an elderly person during his/her daily living activities. It generates the actions based on contextual information. The purpose of the SmartRules framework is to integrate the heterogeneous data and provide context awareness to determine the robot's reaction to context changes using symbolic representation and reasoning with first-order logic. It aims to develop a knowledge representation framework known as SmartRules, an operational platform for context awareness focusing on manageable objects (MOs) with minimal code. The ARBI [75] framework aims to propose an integrated knowledge model for human-robot interactive services that is based on the ontology.