Ontology Neural Network and ORTSF: A Framework for Topological Reasoning and Delay-Robust Control
Jaehong Oh · International Journal of Topology · 2026
The advancement of autonomous robotic systems has led to significant capabilities in perception, localization, mapping, and control, yet a critical challenge remains in representing and preserving relational semantics, contextual reasoning, and cognitive transparency essential for collaboration in dynamic, human-centric environments. This paper introduces a unified architecture comprising the Ontology Neural Network (ONN) and the Ontological Real-Time Semantic Fabric (ORTSF) to address this challenge. The ONN formalizes relational semantic reasoning as a dynamic topological process by embedding Forman–Ricci curvature, persistent homology, and semantic tensor structures within a unified loss formulation, aiming to maintain relational integrity as scenes evolve. Building upon ONN, the ORTSF transforms reasoning traces into actionable control commands while compensating for system delays through predictive operators designed to preserve phase margins. Theoretical analysis and extensive simulations demonstrate that ORTSF maintains designed phase margins, offering advantages over classical delay compensation methods. Empirical studies indicate the framework’s effectiveness in unifying semantic cognition and robust control, providing a mathematically principled solution for cognitive robotics.