  A key aspect of a robot's knowledge base is self-awareness about what it is
capable of doing. It allows to define which tasks it can be assigned to and
which it cannot. We will refer to this knowledge as the Capability concept. As
capabilities stems from the components the robot owns, they can be linked
together. In this work, we hypothesize that this concept can be inferred from
the components rather than merely linked to them. Therefore, we introduce an
ontological means of inferring the agent's capabilities based on the components
it owns as well as low-level capabilities. This inference allows the agent to
acknowledge what it is able to do in a responsive way and it is generalizable
to external entities the agent can carry for example. To initiate an action,
the robot needs to link its capabilities with external entities. To do so, it
needs to infer affordance relations from its capabilities as well as the
external entity's dispositions. This work is part of a broader effort to
integrate social affordances into a Human-Robot collaboration context and is an
extension of an already existing ontology.
