Teams of heterogeneous autonomous robots become increasingly important due to
their facilitation of various complex tasks. For such heterogeneous robots,
there is currently no consistent way of describing the functions that each
robot provides. In the field of manufacturing, capability modeling is
considered a promising approach to semantically model functions provided by
different machines. This contribution investigates how to apply and extend
capability models from manufacturing to the field of autonomous robots and
presents an approach for such a capability model