Research of the Knowledge-Based Systems (KBS) group focuses on methods and algorithms for controlling embedded agents to acquire, reason in, and maintain symbolic knowledge about the world to achieve purposeful and goal-directed behavior in the current context, and do so by computation on-line and on-board the agents. We call Embedded Knowledge-Based Systems (EKBSs) the resulting control systems. Autonomous robots are typical agents considered here, but pure software agents are of interest, too. At least some of the respective knowledge must be symbolic in order to be inspectable and communicable. Regarding environment sensing, the focus is on 3D sensor data, such as point clouds, and on methods and algorithms for efficient handling and semantic interpretation.