Robot knowledge of the world is created from discrete and asynchronous events received from its perception components. Proper representation and maintenance of robot knowledge is crucial to enable the use of robot knowledge for planning, user-interaction, etc. This paper identifies some of the main issues related to the representation, maintenance and querying of robot knowledge based on discrete asynchronous events such as event-history management and synchronization, and introduces a language for simplifying developers’ job at making a suitable representation of robot knowledge
