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Understanding object and its context are very important for robots when dealing with objects for completion of a mission. In this paper, an Affordance-Based Ontology (ABO) is proposed for easy robot dealing with substantive and non-substantive objects. An ABO is a machine-understandable representation of objects and their relationships by what it's related to and how it's related. By using ABO, when dealing with a substantive object, robots can understand the representation of its object and its relation with other non-substantive objects.
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