?. Systemontology, Event( ?x) ? systemOntology :hasNext_11_1( ?x, ?y) ? systemOntology :hasNext_11_2( ?y, ?z) ? systemOntology :has_Location( ?z, ?Object_Location ) ? systemOntology :has_Next_Event_11( ?x, ?y) ? systemOntology :has_Next_Event_11( ?y, ?z) ? tbox :isInDomainOf( ?s, systemOntology

N. Tbox, isInRangeOf( ?m, systemOntology :Compose_11) ? sqwrl :select- Distinct

?. Conférence, N. Djaid, and A. Saadia, Fission Engine for an Ambient Assistance Robot Based on the Ontology Concept, The 6th International Conference on Ambient Systems, Networks and Technologies, 2016.

N. Touileb-djaid, N. Saadia, and A. , Multimodal Fusion engine for an intelligent assistance robot using Ontology, The 6th International Conference on Ambient Systems, Networks and Technologies, 2015.

H. Bouguessa, Multimodal Structure for the management of Energies in a residential Home The Sixth International Energy, Energy and Environment Symposium (IEEES6) RTEU Rize Turkey, 2013.

D. J. Cook, J. C. Augusto, and V. R. Jakkula, Ambient intelligence: Technologies, applications, and opportunities, Pervasive and Mobile Computing, vol.5, issue.4, pp.277-298, 2009.
DOI : 10.1016/j.pmcj.2009.04.001

URL : http://www.eecs.wsu.edu/~cook/pubs/pmc10.pdf

M. Bick and T. F. Kummer, Ambient Intelligence and Ubiquitous Computing. Handbook on Information Technologies for Education and Training Pages 79-100, 2008.
DOI : 10.1007/978-3-540-74155-8_5

J. C. Augusto and P. Mccullagh, Ambient Intelligence: Concepts and applications, Computer Science and Information Systems, vol.4, issue.1, 2007.
DOI : 10.2298/CSIS0701001A

URL : https://doi.org/10.2298/csis0701001a

S. Sathyakeerthy, M. Di-rocco, F. Pecora, and A. , Saffiotti : Scaling up ubiquitous robotic systems from home to town (and beyond) Proceeding UbiComp 13 Adjunct, Proceedings of the 2013 ACM conference on Pervasive and ubiquitous computing adjunct publication, pp.107-110, 2013.
DOI : 10.1145/2494091.2494121

N. Dipsis and K. , Ubiquitous Agents for Ambient Ecologies, Pervasive and Mobile Computing, vol.8, issue.4, pp.562-574, 2012.
DOI : 10.1016/j.pmcj.2011.10.006

T. Choi, Y. Chon, and H. , Energy-efficient WiFi scanning for localization, Pervasive and Mobile Computing, vol.37, pp.124-138, 2017.
DOI : 10.1016/j.pmcj.2016.07.005

D. Yuan, S. S. Kanher, and M. Hollick, Instrumenting Wireless Sensor Networks ? A survey on the metrics that matter. Pervasive and Mobile Computing, pp.45-62, 2017.

A. Chibani, Ubiquitous robotics: Recent challenges and future trends, Robotics and Autonomous Systems, vol.61, issue.11, 1162.
DOI : 10.1016/j.robot.2013.04.003

URL : https://hal.archives-ouvertes.fr/hal-01538583

L. Merino, A. Gilbert, J. Capitán, R. Bowden, J. Illingworth et al., Ollero : Data fusion in ubiquitous networked robot systems for urban services, Annals of telecommunications, vol.67, issue.7, pp.10-1007, 2012.

J. H. Kim, Ubiquitous Robot Advances in Soft Computing, pp.451-459, 2005.

G. Amato, Robotic UBIquitous COgnitive Network Ambient Intelligence -Software and Applications Advances in Intelligent and Soft Computing Doi : 10, pp.978-981, 1007.

M. Weiser and P. , Alto : The computer for the 21st century ACM SIGMOBILE Mobile Computing and Communications Review -Special issue dedicated to Mark Weiser, 1999.

J. Hong, E. Suh, and S. Kim, Context-aware systems : A literature review and classification. Expert Systems with Applications, 2009.
DOI : 10.1016/j.eswa.2008.10.071

URL : http://www.comp.leeds.ac.uk/umuas/reading-group/Context-aware%20systems-%20A%20literature%20review%20and%20classification.pdf

N. F. Noy and D. L. Mcguinness, Ontology Development 101 : A Guide to Creating Your First Ontology, 2001.

E. G. Tsardoulias, Merging Robotics and AAL Ontologies : The RAPP Methodology Progress in Automation, Robotics and Measuring Techniques Advances in Intelligent Systems and Computing Doi : 10, pp.978-981, 1007.

M. Bezold, An Ontology-Based Adaptation Framework for Multimodal Interactive Systems, Lecture Notes in Computer Science, vol.5247, pp.205-212, 2008.
DOI : 10.1007/978-3-540-85992-5_18

E. André and J. C. Martin, Multimodal systems, The Oxford Handbook of Computational Linguistics, pp.1-15, 2014.

M. Gnjatovi´cgnjatovi´c, Adaptive multimodal interaction with industrial robot Pages 329-333, IEEE 10th Jubilee International Symposium on Intelligent Systems and Informatics (SISY), 2012.

V. Uday and K. Vijaychand, Multimodal interaction for service robot control, INTERNATIONAL JOURNAL OF REVIEWS ON RECENT ELECTRONICS AND COMPUTER SCIENCE, vol.1, issue.6, 2013.

K. Miyoshi, R. Konomura, and K. Hori, "Entertainment Multi-rotor Robot that realises Direct and Multimodal Interaction", Proceedings of the 28th International BCS Human Computer Interaction Conference. Pages, pp.218-221, 2014.
DOI : 10.14236/ewic/hci2014.26

A. A. Salah, Natural Multimodal Interaction with a Social Robot, Proceedings of the 2014 Workshop on Roadmapping the Future of Multimodal Interaction Research including Business Opportunities and Challenges, RFMIR '14, 2014.
DOI : 10.1145/1082473.1082823

C. Rousseau, Y. Bellik, and F. Vernier, WWHT, Proceedings of the 17th conference on 17??me Conf??rence Francophone sur l'Interaction Homme-Machine , IHM 2005, 2005.
DOI : 10.1145/1148550.1148558

T. Murata, Petri Nets, Proceedings of the IEEE, 1989.
DOI : 10.1016/B978-0-08-036201-4.50126-0

K. Jensen, L. M. Kristensen, and L. , Coloured Petri Nets and CPN Tools for modelling and validation of concurrent systems, International Journal on Software Tools for Technology Transfer, vol.2, issue.2, pp.213-254, 2007.
DOI : 10.1007/978-1-4757-3143-9

M. Westergaard, CPN Tools 4 : Multi-formalism and Extensibility. International Conference on Applications and Theory of Petri Nets and Concurrency. Pages 400- 409, pp.10-1007, 2013.
DOI : 10.1007/978-3-642-38697-8_22

URL : https://westergaard.eu/wp-content/papercite-data/pdf/cpntools4.pdf

L. Wells, Performance analysis using CPN tools, Proceedings of the 1st international conference on Performance evaluation methodolgies and tools , valuetools '06, 2006.
DOI : 10.1145/1190095.1190171

URL : http://www.utdallas.edu/~htj041000/phd/Performance_Analysis_Using_CPN_Tools.pdf

K. Geihs and M. Wagner, Context-Awareness for Self-adaptive Applications in Ubiquitous Computing Environments, International Conference on Context-Aware Systems and Applications. Pages 108-120, 2012.
DOI : 10.1109/PERCOMW.2011.5766873

D. Sonntag, SmartWeb Handheld ? Multimodal Interaction with Ontological Knowledge Bases and Semantic Web Services Artifical Intelligence for Human Computing Doi : 10, Lecture Notes in Computer Science, vol.4451, pp.978-981, 1007.
DOI : 10.1007/978-3-540-72348-6_14

URL : http://www.dfki.de/~sonntag/ijcai07-sw.pdf

D. Lahat, T. Adal?, and C. Jutten, Multimodal Data Fusion: An Overview of Methods, Challenges, and Prospects, Proceedings of the IEEE, pp.1449-1477, 2015.
DOI : 10.1109/JPROC.2015.2460697

URL : https://hal.archives-ouvertes.fr/hal-01179853

P. K. Atrey, Multimodal fusion for multimedia analysis: a survey, Multimedia Systems, vol.24, issue.11, pp.345-379, 2010.
DOI : 10.1115/1.3662552

URL : http://www.comp.nus.edu.sg/%7Emohan/papers/fusion_survey.pdf

D. Schnelle-walka, C. Duarte, and S. Radomski, Multimodal Fusion and Fission within the W3C MMI Architectural Pattern Doi : 10, Multimodal Interaction with W3C Standards : Toward Natural User Interfaces to Everything. Pages, pp.393-415978, 1007.
DOI : 10.1007/978-3-319-42816-1_19

R. Reynaud, La fusion de données du capteur au raisonnement, Traitement du Signal, vol.11, 1994.

P. K. Atrey, Multimodal fusion for multimedia analysis: a survey, Multimedia Systems, vol.24, issue.11, 2010.
DOI : 10.1115/1.3662552

URL : http://www.comp.nus.edu.sg/%7Emohan/papers/fusion_survey.pdf

R. A. Bolt, ???Put-that-there???, ACM SIGGRAPH Computer Graphics, vol.14, issue.3, pp.262-270, 1980.
DOI : 10.1145/965105.807503

P. Prodanov and A. Drygajlo, Bayesian networks based multi-modality fusion for error handling in human-robot dialogues under noisy conditions . Speech communication, pp.231-248, 2005.

D. Novak and R. , A survey of sensor fusion methods in wearable robotics, Robotics and Autonomous Systems, vol.73, pp.155-170, 2015.
DOI : 10.1016/j.robot.2014.08.012

C. Axenie and J. , Cortically inspired sensor fusion network for mobile robot egomotion estimation, Robotics and Autonomous Systems, vol.71, pp.69-82, 2015.
DOI : 10.1016/j.robot.2014.11.019

T. Germa, F. Lerasle, N. Ouadah, and V. , Vision and RFID data fusion for tracking people in crowds by a mobile robot, Computer Vision and Image Understanding, vol.114, issue.6, pp.641-651, 2010.
DOI : 10.1016/j.cviu.2010.01.008

B. Srinath-reddy and O. A. , Concept-based evidential reasoning for multimodal fusion in human???computer interaction, Applied Soft Computing, vol.10, issue.2, pp.567-577, 2010.
DOI : 10.1016/j.asoc.2009.08.026

E. Berghöfer, D. Schulze, C. Rauch, M. Tscherepanow, T. Köhler et al., ART-based fusion of multi-modal perception for robots. Neuro computing, pp.11-22, 2013.

T. Perperis, T. Giannakopoulos, A. Makris, D. I. Kosmopoulos, S. Tsekeridou et al., Theodoridis : Multimodal and ontology-based fusion approaches of audio and visual processing for violence detection in movies . Expert systems with applications, pp.14102-14116, 2011.

A. Wehbi, A. Zaguia, A. Ramdane-cherif, and C. , Tadj : Multimodal Fusion for Interaction Systems, Journal of Emerging Trends in Computing and Information Sciences, vol.4, pp.445-458, 2013.

O. Hassanzadeh, Introduction to Semantic Web Technologies and Linked Data, 2011.

P. Szeredi, G. Lukcsy, and T. Benk, The Semantic Web Explained : The Technology and Mathematics behind Web 3.0, 2014.
DOI : 10.1017/CBO9781139194129

P. Grifoni, Multimodal Fission. Multimodal Human Computer Interaction and Pervasive Services. Pages 103-120, 2009.
DOI : 10.4018/978-1-60566-386-9.ch006

M. Oussaïd, L. Aït-ameur, and Y. , Ahmed Nacer, M. : A generic formal model for fission of modalities in output multi-modal interactive systems, VECoS, p.9

O. Adjali, M. D. Hina, S. Dourlens, and A. , Ramdane-Cherif : Multimodal Fusion , Fission and Virtual Reality Simulation for an Ambient Robotic Intelligence
DOI : 10.1016/j.procs.2015.05.060

URL : https://doi.org/10.1016/j.procs.2015.05.060

O. Adjali, M. D. Hina, S. Dourlens, and A. , Ramdane-Cherif : Techniques for Multimodal Fusion and Fission for an Intelligent Robotic Application, Adv Robot Autom, vol.4, issue.140, 2015.

D. Costa and C. Duarte, Adapting Multimodal Fission to User's Abilities. Universal Access in Human-Computer Interaction, pp.347-356, 2011.
DOI : 10.1007/978-3-642-21672-5_38

C. Rousseau, Y. Bellik, F. Vernier, and D. Bazalgette, A framework for the intelligent multimodal presentation of information. Signal Processing -Special section : Multimodal human-computer interfaces, 2006.

C. Rousseau, Y. Bellik, and F. Vernier, Un modèle conceptuel pour une présentation multimodale et contextuelle de l'information. Revue d'Interaction Homme- Machine, 2006.

D. Schnelle-walk, S. Radeck-arneth, and J. Striebinger, Multimodal Dialog management in a Smart Home Context with SCXML, Proceedings of 2nd Workshop on Engineering Interactive Systems with SCXML, 2015.

A. Zaguia, A. Wahbi, M. Miraoui, C. Tadj, and A. , Ramdane Cherif : Modeling Rules Fission and Modality Selection Using Ontology, Journal of Software Engineering and Applications, vol.6, issue.7, 2013.
DOI : 10.4236/jsea.2013.67045

URL : https://doi.org/10.4236/jsea.2013.67045

S. L. Oviatt and P. R. Cohen, Multimodal Interfaces That Process What Comes Naturally, In Communications of the ACM, vol.43, issue.3, 2000.
DOI : 10.1145/330534.330538

F. Honold, F. Schüssel, M. Weber, F. Nothdurft, G. Bertrand et al., Minker : Context Models for Adaptive Dialogs and Multimodal Interaction, The 9th International Conference on Intelligent Environments (IE), pp.57-64, 2013.
DOI : 10.1109/ie.2013.54

D. Perroud, L. Angelini, O. Abou-khaled, and E. Mugellini, Context-Based Generation of Multimodal Feedbacks for Natural Interaction in Smart Environments, AMBIENT, The Second International Conference on Ambient Computing, Applications , Services and Technologies, 2012.

G. Pruvost, T. Heinroth, Y. Bellik, and W. , Minker : User Interaction Adaptation within Ambient Environments. Next Generation Intelligent Environments, Pages 153- 194, 2011.
DOI : 10.1007/978-1-4614-1299-1_5

J. F. Ladry, Formal description techniques to support the design, construction and evaluation of fusion engines for sure (safe, usable, reliable and evolvable) multimodal interfaces, Proceedings of the 2009 international conference on Multimodal interfaces, ICMI-MLMI '09, pp.185-192, 2009.
DOI : 10.1145/1647314.1647347

A. A. Mekonnen, Coopération entre un robot mobile et des caméras d'ambiance pour le suivi multi-personnes, RFIA, vol.2012, 2012.

J. Chai, Semantics-based representation for multimodal interpretation in conversational systems, Proceedings of the 19th international conference on Computational linguistics -, 2002.
DOI : 10.3115/1072228.1072263

W. Allègre, Conception d'un système domotique pour l'assistance aux personnes dépendantes, Journal des Sciences et Technologies pour le Handicap, vol.4, issue.2, pp.161-187161, 2010.

L. Sabri, Narrative reasoning for cognitive ubiquitous robots. Knowledge Representation for Autonomous Robots, RSJ International Conference on Intelligent Robots and Systems, 2010.
URL : https://hal.archives-ouvertes.fr/hal-00920155

A. Saffiotti, The PEIS-Ecology Project : a progress report, ICRA-07 Workshop on Network Robot Systems IEEE Int Conf on Robotics and Automation, 2007.

R. B. Rusua, Robots in the kitchen: Exploiting ubiquitous sensing and actuation, Robotics and Autonomous Systems, vol.56, issue.10, 2008.
DOI : 10.1016/j.robot.2008.06.010

M. N. Nicolescu, M. Matari, M. O. Connor, and A. Das, A Hierarchical Architecture for Behaviour-Based Robots, The First International Joint Conference on Autonomous Agents and MultiAgent Systems Bologna. Pages 227-233 SQWRL : a query language for OWL. OWLED'09 Proceedings of the 6th International Conference on OWL : Experiences and Directions, pp.208-215, 2002.
DOI : 10.1145/544796.544798

URL : http://robotics.usc.edu/~monica/Research/Publications/agents02.ps.gz

P. Hitzler, M. Krötzsch, and S. Rudolph, Knowledge Representation and Reasoning for the Semantic Web-OWL 2 Rules. A tutorial at KI, 2009.

M. O. Connor, R. Shankar, S. Tu, C. Nyulas, A. Das et al., Pages 361-363, Efficiently Querying Relational Databases Using OWL and SWRL. International Conference on Web Reasoning and Rule Systems Multimodal interfaces. The Human-Computer Interaction Handbook .Fundamentals, Evolving Technologies and Emerging Applications, p.14, 2007.

S. Oviatt, Advances in robust multimodal interface design, IEEE Computer Graphics and Applications, vol.23, issue.5, pp.62-68, 2003.
DOI : 10.1109/MCG.2003.1231179

D. Gouaillier, V. Hugel, P. Blazevic, C. Kilner, J. O. Monceaux et al., Mechatronic design of NAO humanoid. ICRA'09, IEEE international conference on robotics and automation, pp.769-774, 2009.
DOI : 10.1109/robot.2009.5152516

D. Gouaillier, V. Hugel, P. Blazevic, C. Kilner, J. O. Monceaux et al., Mechatronic design of NAO humanoid. ICRA'09, IEEE international conference on robotics and automation, pp.769-774, 2009.

M. Fakoor, A. Kosari, and M. Jafarzadeh, Humanoid robot path planning with fuzzy Markov decision processes, Journal of Applied Research and Technology, vol.14, issue.5, 2016.
DOI : 10.1016/j.jart.2016.06.006

URL : https://doi.org/10.1016/j.jart.2016.06.006