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Surv."],"published-print":{"date-parts":[[2021,9,30]]},"abstract":"<jats:p>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 ontologies for classifying, comparing, and contrasting them, in order to conceptualize SLAM domain for mobile robots; and (iii) pin-down lessons to learn from existing solutions in order to design better solutions and identify new research directions and further improvements. We compare the identified SLAM ontologies according to the proposed classification and, finally, we explore new data fields to enrich existing ontologies and highlight new possibilities in terms of performance and efficiency for SLAM solutions.<\/jats:p>","DOI":"10.1145\/3408316","type":"journal-article","created":{"date-parts":[[2020,9,28]],"date-time":"2020-09-28T10:45:25Z","timestamp":1601289925000},"page":"1-26","update-policy":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":10,"title":["A Survey of Ontologies for Simultaneous Localization and Mapping in Mobile Robots"],"prefix":"10.1145","volume":"53","author":[{"given":"Mar\u00eda A.","family":"Cornejo-Lupa","sequence":"first","affiliation":[{"name":"Universidad Cat\u00f3lica San Pablo, Arequipa, Per\u00fa"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Regina P.","family":"Ticona-Herrera","sequence":"additional","affiliation":[{"name":"Universidad Cat\u00f3lica San Pablo, Arequipa, Per\u00fa"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yudith","family":"Cardinale","sequence":"additional","affiliation":[{"name":"Universidad Cat\u00f3lica San Pablo, Arequipa, Per\u00fa, Dpto. Ing. El\u00e9ctrica y Electr\u00f3nica and Universidad Sim\u00f3n Bol\u00edvar, Dpto. de Computaci\u00f3n y T.I, Caracas, Venezuela"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dennis","family":"Barrios-Aranibar","sequence":"additional","affiliation":[{"name":"Universidad Cat\u00f3lica San Pablo, Arequipa, Per\u00fa, Dpto. Ing. El\u00e9ctrica y Electr\u00f3nica"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2020,9,28]]},"reference":[{"key":"e_1_2_1_1_1","volume-title":"Proceedings of the International Conference on Knowledge Engineering and Ontology Development, KEOD. Springer Verlag","author":"Alonso Julita Bermejo","year":"2011","unstructured":"Julita Bermejo Alonso , Ricardo Sanz Bravo , Manuel Rodr\u00edguez , and Carlos Hern\u00e1ndez Corbato . 2011 . Engineering an ontology for autonomous systems - The OASys ontology . 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