In this paper we present Ontologenius, a semantic knowledge storage and reasoning framework for autonomous robots. More than a classic ontology software to query a knowledge base and a first-order internal logic as it can be done for web-semantics, we propose with Ontologenius features adapted to a robotic use including human-robot interaction. We introduce the ability to modify the knowledge base during execution, whether through dialogue or geometric reasoning, and keep these changes even

more »

... se changes even after the robot is powered off. Since Ontologenius was developed to be used by a robot which interacts with humans, we have endowed the system with ability to perform attributes and properties generalization and with the possibility to model and estimate the semantic memory of a human partner and to implement theory of mind processes. This paper presents the architecture and the main features of Ontologenius as well as examples of its use in robotics applications.