Autonomous robot navigation using human spatial concepts

With the aim of automatically reasoning with spatial aspects in a cognitive way, several qualitative models have been developed in recent years. However, there is no model to reason with several spatial aspects in a uniform way. Moreover, most of these models simplify spatial objects to points. In t...

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Bibliographic Details
Published inInternational journal of intelligent systems Vol. 15; no. 3; pp. 165 - 196
Main Authors Escrig, M. Teresa, Toledo, Francisco
Format Journal Article Conference Proceeding
LanguageEnglish
Published New York John Wiley & Sons, Inc 01.03.2000
Wiley
Subjects
Applied sciences
Automata. Logic controller
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Robotics
Human
Navigation
Spatial analysis
Logical programming
Orientation
Robotics
Reasoning
Constraint logic programming
Positional information
Simulator
Spatial representation
Handling
Tool
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Summary:With the aim of automatically reasoning with spatial aspects in a cognitive way, several qualitative models have been developed in recent years. However, there is no model to reason with several spatial aspects in a uniform way. Moreover, most of these models simplify spatial objects to points. In this paper we present the use of constraint logic programming instantiated to finite domains extended with constraint handling rules as a tool for successfully integrating the qualitative concepts of orientation, distance, and cardinal directions, using points as well as extended objects as a primitive of reasoning. The resulting model has been applied to build a demonstrator: a qualitative navigation simulator on the structured environment of our city. ©2000 John Wiley & Sons, Inc.
Bibliography:ArticleID:INT3
istex:5C73131C29A5606A3C526B9CE4C2B50AF00A280F
Fundació Caixa-Castelló BANCAIXA - No. P1A98-11
ark:/67375/WNG-LQ5RW7CK-T
This article is an extended version of the paper "Applying Qualitative Spatial Reasoning to Robot Navigation" which appears in the Proceedings of the First Catalan Conference on Artificial Intelligence, Oct. 1998, Tarragona, Spain
CICYT - No. TAP99-0590-002-02
This article is an extended version of the paper “Applying Qualitative Spatial Reasoning to Robot Navigation” which appears in the Proceedings of the First Catalan Conference on Artificial Intelligence, Oct. 1998, Tarragona, Spain
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ObjectType-Conference Paper-1
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ISSN:0884-8173
1098-111X
DOI:10.1002/(SICI)1098-111X(200003)15:3<165::AID-INT3>3.0.CO;2-X