fig1
![Planning robotic agent actions using semantic knowledge for a home environment](https://image.oaes.cc/83260deb-5e95-4534-bd23-b1c6f7d10b5e/4452.fig.1.jpg)
Figure 1. Global System, containing a Reasoning section that is based on an ontology, a Planning section that is based on the Planning Domain Definition Language (PDDL), a relational database (MongoDB) that is queried using the ontology and ROSPlan, and a Robot section that is based on robot controller, as well as its sensing and acting devices.