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Heterogeneous ontologies and hybrid reasoning for service r.. 

, In: ROBOT 2017: Third Iberian Robotics Conference / edited by Anibal Ollero, Alberto Sanfeliu, Luis Montano, Nuno Lau, Carlos Cardeira
the EASE framework 
Bateman, John ; Beßler, Daniel ; Bozcuoğlu, Asil Kaan... (2018)  - p. 417-428
Link: https://doi.org/10.1007/978-3-319-70833-1_34