@prefix owl: <http://www.w3.org/2002/07/owl#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix dc: <http://purl.org/dc/terms/> .
@prefix ns0: <https://www.omg.org/spec/Commons/AnnotationVocabulary/> .
@prefix skos: <http://www.w3.org/2004/02/skos/core#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/>
  a owl:Ontology ;
  rdfs:label "Robotic Service Ontology" ;
  dc:abstract "The Robotic Service Ontology (RoSO) ontology provides the core concepts required to integrate robotics services with other robotics ontologies, such as the IEEE Standard Ontologies for Robotics and Automation, IEEE1972-2015, also known as CORA."@en-US ;
  owl:imports <https://www.omg.org/spec/Commons/AnnotationVocabulary/>, <https://www.omg.org/spec/Commons/Classifiers/>, <https://www.omg.org/spec/Commons/Collections/>, <https://www.omg.org/spec/Commons/DatesAndTimes/>, <https://www.omg.org/spec/Commons/PartiesAndSituations/>, <https://www.omg.org/spec/Commons/RolesAndCompositions/>, <https://www.omg.org/spec/LCC/Countries/CountryRepresentation/> ;
  owl:versionIRI <https://www.omg.org/spec/RoSO/20250801/RoboticServiceOntology/> ;
  ns0:copyright "Copyright (c) 2023-2025 Japan Robot Association"@en-US, "Copyright (c) 2023-2025 Korea Association of Robot Industry"@en-US, "Copyright (c) 2023-2025 National Institute of Advanced Industrial Science and Technology, Japan"@en-US, "Copyright (c) 2023-2025 Object Management Group, Inc."@en-US, "Copyright (c) 2023-2025 Shibaura Institute of Technology"@en-US, "Copyright (c) 2023-2024 Université Sorbonne Paris Nord"@fr-FR .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/canRepresent>
  a owl:ObjectProperty ;
  rdfs:label "can represent" ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Avatar> ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Person> ;
  skos:definition "can represent a person" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/hasAttribute>
  a owl:ObjectProperty ;
  rdfs:subPropertyOf <https://www.omg.org/spec/Commons/Classifiers/isCharacterizedBy> ;
  rdfs:label "has attribute" ;
  skos:definition "has feature or is delimited by" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/hasRegion>
  a owl:ObjectProperty ;
  rdfs:subPropertyOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/isLocatedAt> ;
  rdfs:label "has region" ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Region> ;
  rdfs:range <https://www.omg.org/spec/LCC/Countries/CountryRepresentation/GeographicRegion> ;
  skos:definition "indicates a demarcated area on the surface of the Earth" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/hasRole>
  a owl:ObjectProperty ;
  rdfs:subPropertyOf <https://www.omg.org/spec/Commons/Classifiers/isCharacterizedBy> ;
  rdfs:label "has role" ;
  rdfs:domain [
    a owl:Class ;
    owl:unionOf (
     <https://www.omg.org/spec/Commons/PartiesAndSituations/Agent>
     <https://www.omg.org/spec/RoSO/RoboticServiceOntology/AgentGroup>
   )
  ] ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceOntology/AgentRole> ;
  skos:definition "arepresents agent’s (or agent group’s) role in service" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/isCapableOf>
  a owl:ObjectProperty ;
  rdfs:subPropertyOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/hasAttribute> ;
  rdfs:domain <https://www.omg.org/spec/Commons/PartiesAndSituations/Agent> ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Function> ;
  rdfs:label "is capable of" ;
  skos:definition "represents agent's capability to execute a role or function in service" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/isLocatedAt>
  a owl:ObjectProperty ;
  rdfs:label "is located at" ;
  rdfs:domain [
    a owl:Class ;
    owl:unionOf (
     <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Point>
     <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Region>
     <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Site>
   )
  ] ;
  rdfs:range <https://www.omg.org/spec/LCC/Countries/CountryRepresentation/Location> ;
  skos:definition "relates something to a location, which might be physical or virtual" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/isProvidedBy>
  a owl:ObjectProperty ;
  rdfs:label "is provided by" ;
  owl:inverseOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/provides> ;
  skos:definition "is made available by" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/isSituatedAt>
  a owl:ObjectProperty ;
  rdfs:label "is situated at" ;
  owl:inverseOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/situates> ;
  skos:definition "is placed at" ;
  ns0:explanatoryNote "Something may be situated at some site, or in some setting, situation, or context." .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/provides>
  a owl:ObjectProperty ;
  rdfs:label "provides" ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Facility> ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Function> ;
  skos:definition "makes something available" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/situates>
  a owl:ObjectProperty ;
  rdfs:label "situates" ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Site> ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Facility> ;
  skos:definition "indicates the place, setting, or context in which something is placed" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/AgentGroup>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/Commons/Collections/Collection>, [
    a owl:Restriction ;
    owl:onProperty <https://www.omg.org/spec/Commons/Collections/hasMember> ;
    owl:allValuesFrom <https://www.omg.org/spec/Commons/PartiesAndSituations/Agent>
  ] ;
  rdfs:label "agent group" ;
  skos:definition "collection of agents (people, organizations, software agents, robots, etc.) considered as a unit" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/AgentRole>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/Commons/RolesAndCompositions/FunctionalRole> ;
  rdfs:label "agent role" ;
  skos:definition "represents a role an Agent can perform. The relationship between an Agent and a Role is represented by a hasRole property." .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/Avatar>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/Commons/PartiesAndSituations/Agent> ;
  rdfs:label "avatar" ;
  skos:definition "an agent that represents a person and provides the person functions of remote control and communication stream to interact with other agents in the robotic service environment." .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/AvatarRobot>
  a owl:Class ;
  rdfs:subClassOf [
    a owl:Class ;
    owl:unionOf (
     <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Avatar>
     <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Robot>
   )
  ] ;
  rdfs:label "avatar robot" ;
  skos:definition "a robot that represents a person and provides the person functions of remote control and communication stream to interact with other agents in the robotic service environment." .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/Capability>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/ConceptualThing> ;
  rdfs:label "capability" ;
  skos:definition "ability to perform or support a function" ;
  ns0:adaptedFrom "ISO 22886:2020 Healthcare organization management - Vocabulary", "ISO 6707-1:2020 Buildings and civil engineering works - Vocabulary - Part 1: General terms", "Value Delivery Modeling Language Specification, http://www.omg.org/spec/VDML/" ;
  ns0:explanatoryNote "Capabilities may involve people with particular skills and knowledge, intellectual property, defined practices, operating facilities, tools and equipment.", "More specifically, a capability can be defined as the ability to perform a directed process towards meeting an objective or according to some specification." .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/ConceptualThing>
  a owl:Class ;
  rdfs:label "conceptual thing" ;
  rdfs:subClassOf owl:Thing ;
  skos:definition "an abstract placeholder to organize conceptual entities in robotic service environment" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/Direction>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/SpatialThing> ;
  rdfs:label "direction" ;
  skos:definition "a geographic quantity (datatype) an agent is facing or moving." .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/Facility>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/Commons/RolesAndCompositions/FunctionalRole>, [
    a owl:Restriction ;
    owl:onProperty <https://www.omg.org/spec/RoSO/RoboticServiceOntology/isSituatedAt> ;
    owl:onClass <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Site> ;
    owl:minQualifiedCardinality "0"^^xsd:nonNegativeInteger
  ], [
    a owl:Restriction ;
    owl:onProperty <https://www.omg.org/spec/RoSO/RoboticServiceOntology/provides> ;
    owl:onClass <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Capability> ;
    owl:minQualifiedCardinality "0"^^xsd:nonNegativeInteger
  ] ;
  rdfs:label "facility" ;
  skos:definition "something established to serve a particular purpose, make some course of action or operation easier, or provide some capability or service" ;
  ns0:explanatoryNote "A facility may be concrete (as in a manufacturing facility) or abstract. Concrete facilities may be permanent, semi-permanent, or temporary structures, providing one or more capabilities at a given site. A single site may include multiple facilities and a given facility may span multiple sites." .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/Function>
  a owl:Class ;
  rdfs:label "function" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/ConceptualThing> ;
  skos:definition "activity a component actuates something or senses status of or changes in the environment" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/Person>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/Commons/PartiesAndSituations/Agent> ;
  rdfs:label "person" ;
  skos:definition " an agent that perform roles in interaction with other agents, but not a Robot" ;
  ns0:explanatoryNote " person in a service environment can be both a service provider and a service receiver as an agent." .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/PersonGroup>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/AgentGroup>, [
    a owl:Restriction ;
    owl:onProperty <https://www.omg.org/spec/Commons/Collections/hasMember> ;
    owl:allValuesFrom <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Person>
  ] ;
  rdfs:label "person group" ;
  skos:definition "collection of people considered as a unit" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/PhysicalThing>
  a owl:Class ;
  rdfs:label "physical thing" ;
  rdfs:subClassOf owl:Thing ;
  skos:definition "an abstract placeholder to organize physical entities in robotic service environment" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/Point>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/SpatialThing> ;
  rdfs:label "point" ;
  skos:definition "a geographic location in a service environment where events occur or agents perform at or recognize as goal" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/Posture>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/SpatialThing> ;
  rdfs:label "posture" ;
  skos:definition "a geographic representation of agents status" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/Region>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/SpatialThing> ;
  rdfs:label "region" ;
  skos:definition "a geographic region where services are provided or agents are located." .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/Robot>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/Commons/PartiesAndSituations/Agent> ;
  rdfs:label "robot" ;
  owl:disjointWith <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Person> ;
  skos:definition "an agent that provides service to other agents autonomously or controlled remotely." .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/RobotGroup>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/AgentGroup>, [
    a owl:Restriction ;
    owl:onProperty <https://www.omg.org/spec/Commons/Collections/hasMember> ;
    owl:allValuesFrom <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Robot>
  ] ;
  rdfs:label "robot group" ;
  skos:definition "collection of robots considered as a unit" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/ServiceProvider>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/AgentRole> ;
  rdfs:label "service provider" ;
  skos:definition "a role of an agent or agent group that provides services" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/ServiceReceiver>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/AgentRole> ;
  rdfs:label "service receiver" ;
  skos:definition "a role of an agent or agent group that receives services" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/Site>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/Commons/RolesAndCompositions/Role>, [
    a owl:Restriction ;
    owl:onProperty <https://www.omg.org/spec/RoSO/RoboticServiceOntology/isLocatedAt> ;
    owl:onClass <https://www.omg.org/spec/LCC/Countries/CountryRepresentation/Location> ;
    owl:qualifiedCardinality "1"^^xsd:nonNegativeInteger
  ], [
    a owl:Restriction ;
    owl:onProperty <https://www.omg.org/spec/Commons/RolesAndCompositions/isPlayedBy> ;
    owl:someValuesFrom [
      a owl:Restriction ;
      owl:onProperty <https://www.omg.org/spec/RoSO/RoboticServiceOntology/situates> ;
      owl:someValuesFrom owl:Thing
    ]
  ] ;
  rdfs:label "site" ;
  skos:definition "place, setting, or context in which something, such as a facility, is situated" ;
  skos:example "Examples include a structure or building, an archeological dig, the landing location for an aircraft or spacecraft, and the site of a wound. A given site may accommodate multiple facilities." ;
  ns0:explanatoryNote "A physical site has certain characteristics that contribute to the context it provides, including area, shape, accessibility, and in the case of a geographic site, landforms, soil and ground conditions, climate, and so forth." .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/SpatialInterval>
  a owl:Class ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/SpatialThing> ;
  rdfs:label "spatial interval" ;
  skos:definition "a geographic distance between two objects or effective range of functional components" .

<https://www.omg.org/spec/RoSO/RoboticServiceOntology/SpatialThing>
  a owl:Class ;
  rdfs:label "spatial thing" ;
  rdfs:subClassOf owl:Thing ;
  skos:definition "an abstract placeholder to represent geographic entities in service environments" .