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xml:base="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning" xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#" xmlns:owl="http://www.w3.org/2002/07/owl#" xmlns:xsd="http://www.w3.org/2001/XMLSchema#" xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#" xmlns:knowledgemotion="http://https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#"> <owl:Ontology rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning"> </owl:Ontology> <!-- /////////////////////////////////////////////////////////////////////////////////////// // // Annotation properties // /////////////////////////////////////////////////////////////////////////////////////// --> <owl:AnnotationProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> <owl:AnnotationProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#actionType"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:AnnotationProperty> <!-- /////////////////////////////////////////////////////////////////////////////////////// // // Object Properties // /////////////////////////////////////////////////////////////////////////////////////// --> <owl:ObjectProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-action"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#propertiesManipulation"/> </owl:ObjectProperty> <owl:ObjectProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-jointedTo"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#propertiesManipulation"/> </owl:ObjectProperty> <owl:ObjectProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-objectType"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#propertiesManipulation"/> </owl:ObjectProperty> <owl:ObjectProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-physicalPart"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#propertiesManipulation"/> </owl:ObjectProperty> <owl:ObjectProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-region"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#propertiesManipulation"/> </owl:ObjectProperty> <owl:ObjectProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#is-occupied"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#propertiesManipulation"/> </owl:ObjectProperty> <owl:ObjectProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#propertiesManipulation"/> <!-- /////////////////////////////////////////////////////////////////////////////////////// // // Data properties // /////////////////////////////////////////////////////////////////////////////////////// --> <owl:DatatypeProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> <owl:DatatypeProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#p1-x"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:DatatypeProperty> <owl:DatatypeProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#p1-y"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:DatatypeProperty> <owl:DatatypeProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#p2-x"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:DatatypeProperty> <owl:DatatypeProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#p2-y"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:DatatypeProperty> <owl:DatatypeProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#p3-x"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:DatatypeProperty> <owl:DatatypeProperty 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rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:DatatypeProperty> <owl:DatatypeProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#x"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:DatatypeProperty> <owl:DatatypeProperty rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#y"> <rdfs:subPropertyOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:DatatypeProperty> <!-- /////////////////////////////////////////////////////////////////////////////////////// // // Classes // /////////////////////////////////////////////////////////////////////////////////////// --> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Actions"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Engine"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ObjectsElements"/> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#FixedObject"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ObjectsType"/> <rdfs:subClassOf> <owl:Restriction> <owl:onProperty rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-physicalPart"/> <owl:hasValue rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#part5"/> </owl:Restriction> </rdfs:subClassOf> <rdfs:subClassOf> <owl:Restriction> <owl:onProperty rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-physicalPart"/> <owl:hasValue rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#handle1"/> </owl:Restriction> </rdfs:subClassOf> <rdfs:comment>cup</rdfs:comment> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#GoalRegion"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Regions"/> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#GoalState"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> <rdfs:subClassOf> <owl:Restriction> <owl:onProperty rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-region"/> <owl:hasValue rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#goal-region"/> </owl:Restriction> </rdfs:subClassOf> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Handle"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ObjectsElements"/> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#InitialState"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ManipulatableObject"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ObjectsType"/> <rdfs:subClassOf> <owl:Restriction> <owl:onProperty rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-physicalPart"/> <owl:hasValue rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#four-wheeldrive"/> </owl:Restriction> </rdfs:subClassOf> <rdfs:subClassOf> <owl:Restriction> <owl:onProperty rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-physicalPart"/> <owl:hasValue rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#engine"/> </owl:Restriction> </rdfs:subClassOf> <rdfs:subClassOf> <owl:Restriction> <owl:onProperty rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-physicalPart"/> <owl:hasValue rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#part2"/> </owl:Restriction> </rdfs:subClassOf> <rdfs:subClassOf> <owl:Restriction> <owl:onProperty rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-physicalPart"/> <owl:hasValue rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#part3"/> </owl:Restriction> </rdfs:subClassOf> <rdfs:subClassOf> <owl:Restriction> <owl:onProperty rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-physicalPart"/> <owl:hasValue rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#part4"/> </owl:Restriction> </rdfs:subClassOf> <rdfs:subClassOf> <owl:Restriction> <owl:onProperty rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-physicalPart"/> <owl:hasValue rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#part1"/> </owl:Restriction> </rdfs:subClassOf> <rdfs:subClassOf> <owl:Restriction> <owl:onProperty rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#has-region"/> <owl:hasValue rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#car-region"/> </owl:Restriction> </rdfs:subClassOf> <rdfs:comment>Object1</rdfs:comment> <rdfs:comment>Car-like objects are not manipulatable from the side of bodies which have wheeldrive.</rdfs:comment> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ManipulationRegion"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Regions"/> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ObjectRegion"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Regions"/> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ObjectsElements"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ObjectsType"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Part"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ObjectsElements"/> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#PushAction"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Actions"/> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Regions"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Manipulation"/> </owl:Class> <owl:Class rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#WheelDrive"> <rdfs:subClassOf rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ObjectsElements"/> </owl:Class> <!-- /////////////////////////////////////////////////////////////////////////////////////// // // Individuals // /////////////////////////////////////////////////////////////////////////////////////// --> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#at"/> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#car"> <rdf:type rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ManipulatableObject"/> <has-region rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#car-region"/> <has-physicalPart rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#engine"/> <has-physicalPart rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#part1"/> <has-physicalPart rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#part2"/> <has-physicalPart rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#part3"/> <has-physicalPart rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#part4"/> </owl:NamedIndividual> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#car-region"> <rdf:type rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ObjectRegion"/> <p4-y rdf:datatype="&xsd;double">1.0</p4-y> <p1-x rdf:datatype="&xsd;double">1.0</p1-x> <p2-x rdf:datatype="&xsd;double">1.0</p2-x> <p1-y rdf:datatype="&xsd;double">1.0</p1-y> <p3-x rdf:datatype="&xsd;double">5.0</p3-x> <p3-y rdf:datatype="&xsd;double">5.0</p3-y> <p2-y rdf:datatype="&xsd;double">5.0</p2-y> <p4-x rdf:datatype="&xsd;double">5.0</p4-x> </owl:NamedIndividual> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#engine"> <rdf:type rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Engine"/> </owl:NamedIndividual> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#four-wheeldrive"> <rdf:type rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#WheelDrive"/> </owl:NamedIndividual> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#goal-region"> <rdf:type rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#GoalRegion"/> <radius rdf:datatype="&xsd;double">1.0</radius> <y rdf:datatype="&xsd;double">3.0</y> <x rdf:datatype="&xsd;double">3.0</x> </owl:NamedIndividual> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#handle1"> <rdf:type rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Handle"/> <actionType rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#PickAction"/> </owl:NamedIndividual> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#manipulationRegion1"> <rdf:type rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ManipulationRegion"/> </owl:NamedIndividual> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#manipulationRegion2"> <rdf:type rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ManipulationRegion"/> <p2-x rdf:datatype="&xsd;double">1.0</p2-x> <p1-y rdf:datatype="&xsd;double">1.0</p1-y> <p4-y rdf:datatype="&xsd;double">1.0</p4-y> <p1-x rdf:datatype="&xsd;double">1.0</p1-x> <p3-y rdf:datatype="&xsd;double">2.0</p3-y> <p4-x rdf:datatype="&xsd;double">2.0</p4-x> <p2-y rdf:datatype="&xsd;double">2.0</p2-y> <p3-x rdf:datatype="&xsd;double">2.0</p3-x> </owl:NamedIndividual> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#manipulationRegion3"> <rdf:type rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ManipulationRegion"/> </owl:NamedIndividual> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#manipulationRegion4"> <rdf:type rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#ManipulationRegion"/> <p4-y rdf:datatype="&xsd;double">1.0</p4-y> <p1-y rdf:datatype="&xsd;double">1.0</p1-y> <p3-y rdf:datatype="&xsd;double">2.0</p3-y> <p2-y rdf:datatype="&xsd;double">2.0</p2-y> <p2-x rdf:datatype="&xsd;double">3.0</p2-x> <p1-x rdf:datatype="&xsd;double">3.0</p1-x> <p4-x rdf:datatype="&xsd;double">4.0</p4-x> <p3-x rdf:datatype="&xsd;double">4.0</p3-x> </owl:NamedIndividual> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#move"/> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#part1"> <rdf:type rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#Part"/> <has-region rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#manipulationRegion1"/> <has-jointedTo rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#part2"/> <has-jointedTo rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#part4"/> <has-physicalPart rdf:resource="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#two-wheeldrive"/> </owl:NamedIndividual> <owl:NamedIndividual rdf:about="https://sir.upc.edu/wikis/roblab/index.php/Laboratory/KnowledgeMotionPlanning#part2"> <rdf:type 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