Within the next decades, robots will need to be able to execute a large variety of tasks autonomously in a large variety of environments. To relax the resulting programming effort, a knowledge-enabled approach to robot programming can be adopted to organize information in re-usable knowledge pieces. However, for the ease of reuse, there needs to be an agreement on the meaning of terms. A common approach is to represent these terms using ontology languages that conceptualize the respective domain. In this work, we will review projects that use ontologies to support robot autonomy. We will systematically search for projects that fulfill a set of inclusion criteria and compare them with each other with respect to the scope of their ontology, what types of cognitive capabilities are supported by the use of ontologies, and which is their application domain.

中文翻译：

---

基于本体的机器人自主方法的回顾和比较

在接下来的几十年中，机器人将需要能够在各种环境中自主执行各种任务。为了放松由此产生的编程工作，可以采用知识支持的机器人编程方法来组织可重复使用的知识片段中的信息。但是，为了便于重用，需要就术语的含义达成一致。一种常见的方法是使用概念化各个领域的本体语言来表示这些术语。在这项工作中，我们将回顾使用本体来支持机器人自主性的项目。我们将系统地搜索满足一组包含标准的项目，并在其本体范围、使用本体支持哪些类型的认知能力方面将它们相互比较，