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Publication type: Article in Proceedings
Author: T. Wagner, K. Huebner
Editor: D. Nardi, M. Riedmiller, C. Sammut
Title: An Egocentric Qualitative Spatial Knowledge Representation Based on Ordering Information for Physical Robot Navigation
Book / Collection title: RoboCup 2004: Robot Soccer World Cup VIII
Volume: 3276
Page(s): 134 – 149
Series: Lecture Notes in Artificial Intelligence
Year published: 2005
Publisher: Springer-Verlag, D-69121 Heidelberg, Germany
Abstract: Navigation is one of the most fundamental tasks to be accomplished by many types of mobile and cognitive systems. Most approaches in this area are based on building or using existing allocentric, static maps in order to guide the navigation process. In this paper we propose a simple egocentric, qualitative approach to navigation based on ordering information. An advantage of our approach is that it produces qualitative spatial information which is required to describe and recognize complex and abstract, i.e., translation-invariant behavior. In contrast to other techniques for mobile robot tasks, that also rely on landmarks it is also proposed to reason about their validity despite insufficient and insecure sensory data. Here we present a formal approach that avoids this problem by use of a simple internal spatial representation based on landmarks aligned in an extended panoramic representation structure.
ISBN: 3-540-25046-8
Internet: http://www.springeronline.com/sgw/cda/frontpage/0,11855,1-40109-22-44241743-0,00.html
PDF Version: http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3276&spage=134
Status: Reviewed
Last updated: 12. 05. 2005

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