IEEE Robotics & Automation Magazine - March 2017 - 9

regarding transversal notions in robot-
ics. Lower-layer groups will concern
specific domains in robotics and will
use concepts from CORA and middle-
layer groups.
The Robot Task
Representation Subgroup
The Robot Task Representation sub-
group will develop a broad standard
that provides a comprehensive ontology
for robot task structure and reasoning.
In this context, task refers to the con-
crete decomposition from goal to sub-
goals that enables the human or robot
to accomplish the outcome at a specific
instance in time. To accomplish this,
there is a need for a standard providing
an explicit knowledge representation for
robot tasks.
This work will be a supplement to
the existing standard CORA ontology.
This supplement will include the pre-
sentation of concepts in an initial set of

Upper Ontology (CORA)

Robot Task
Subgroup

Autonomous Robot
Subgroup

Service Robot
Subgroup

Figure 1. The structure of IEEE ORA efforts. The subgroups in gray are now active; the ones
in white are planned.

application domains (e.g., in manufac-
turing) where robot task representa-
tion could be useful. The ontology
provides a unified way to represent
knowledge about robot tasks by shar-
ing common representations and pre-
serving semantic meaning. It can be
utilized in manufacturing control
applications, where the system needs

to control multiple elements of the
manufacturing process.
Our work plan for developing the
standard has two aspects. The first is to
develop the task ontology, extending
CORA and capturing vocabularies for
robot task representation by require-
ments analysis and surveying the litera-
ture. The final decision-making on

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