Spatial Representation And Reasoning For Robot Mapping
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| Author | : Diedrich Wolter |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 199 |
| Release | : 2008-07-23 |
| Genre | : Technology & Engineering |
| ISBN | : 3540690115 |
This book demonstrates bene?ts of abstract and qualitative reasoning that have not received much attention in the context of autonomous robotics before. Bremen, Christian Freksa December 2007 Director of the SFB/TR 8 Spatial Cognition Preface This book addresses spatial representations and reasoning techniques for - bile robot mapping, providing an analysis of fundamental representations and processes involved. A spatial representation based on shape information is p- posed and shape analysis techniques are developed to tackle the correspondence problem in robot mapping. A general mathematical formulation is presented to provide the formal ground for an e?cient matching of con?gurations of objects. This book is a slightly revised version of my doctoral thesis submitted to the Faculty of Mathematics and Computer Science of the University of Bremen, Germany. Manycontributeto the developmentofa dissertation,butsomeofthemstand out. Christian Freksa, I thank you for supporting and encouraging my work, for introducing me to interdisciplinary work, for giving me the freedom to develop this dissertation, and for providing an enjoyable atmosphere to work in. Longin Jan Latecki, thank you for countless in-depth discussions helping me to develop andtopositionmywork,forthefruitfulcollaboration,andformakingaresearch stay possible that has been very valuable to me. I thank the research groups in Bremen and Philadelphia for helpful discussions and feedback, in particular Jan Oliver Wallgrun. ̈ I also thank Kai-Florian Richter, Sven Bertel, and Lutz Frommberger for feedback on this work. Robert Ross, thank you for helping to proof-read this dissertation.
| Author | : Hazarika, Shyamanta M. |
| Publisher | : IGI Global |
| Total Pages | : 460 |
| Release | : 2012-05-31 |
| Genre | : Computers |
| ISBN | : 1616928700 |
Space and time are inextricably linked. Reasoning about space often involves reasoning about change in spatial configurations. Qualitative spatial information theory encompasses spatial as well as temporal representation and reasoning. Qualitative Spatio-Temporal Representation and Reasoning: Trends and Future Directions is a contribution to the emerging discipline of qualitative spatial information theory within artificial intelligence. This collection of research covers both theory and application-centric research and provides a comprehensive perspective on the emerging area of qualitative spatio-temporal representation and reasoning. This revolutionary new field is increasingly becoming a core issue within mobile computing, GIS/spatial information systems, databases, computer vision as well as knowledge discovery and data mining.
| Author | : Management Association, Information Resources |
| Publisher | : IGI Global |
| Total Pages | : 2281 |
| Release | : 2012-09-30 |
| Genre | : Technology & Engineering |
| ISBN | : 1466620390 |
Developments in technologies have evolved in a much wider use of technology throughout science, government, and business; resulting in the expansion of geographic information systems. GIS is the academic study and practice of presenting geographical data through a system designed to capture, store, analyze, and manage geographic information. Geographic Information Systems: Concepts, Methodologies, Tools, and Applications is a collection of knowledge on the latest advancements and research of geographic information systems. This book aims to be useful for academics and practitioners involved in geographical data.
| Author | : John Stephen Mullane |
| Publisher | : Springer |
| Total Pages | : 161 |
| Release | : 2011-05-19 |
| Genre | : Technology & Engineering |
| ISBN | : 3642213901 |
The monograph written by John Mullane, Ba-Ngu Vo, Martin Adams and Ba-Tuong Vo is devoted to the field of autonomous robot systems, which have been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the problem of representing the environment and its uncertainty in terms of feature based maps. Random Finite Sets are adopted as the fundamental tool to represent a map, and a general framework is proposed for feature management, data association and state estimation. The approaches are tested in a number of experiments on both ground based and marine based facilities.
| Author | : Andreas Nüchter |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 214 |
| Release | : 2009-01-17 |
| Genre | : Technology & Engineering |
| ISBN | : 3540898832 |
Focuses on acquiring spatial models of physical environments through mobile robots The robotic mapping problem is commonly referred to as SLAM (simultaneous localization and mapping). 3D maps are necessary to avoid collisions with complex obstacles and to self-localize in six degrees of freedom (x-, y-, z-position, roll, yaw and pitch angle) New solutions to the 6D SLAM problem for 3D laser scans are proposed and a wide variety of applications are presented
| Author | : Cyrill Stachniss |
| Publisher | : Springer |
| Total Pages | : 206 |
| Release | : 2009-05-06 |
| Genre | : Technology & Engineering |
| ISBN | : 3642010970 |
"Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.
| Author | : C. J. Kenneth Tan |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 213 |
| Release | : 2010-10-21 |
| Genre | : Computers |
| ISBN | : 3642160069 |
The 9th issue of the Transactions on Computational Science journal, edited by François Anton, is devoted to the subject of Voronoi diagrams in science and engineering. The 9 papers included in the issue constitute extended versions of selected papers from the International Symposium on Voronoi Diagrams, held in Copenhagen, Denmark, June 23-36, 2009. Topics covered include: divide and conquer construction of Voronoi diagrams; new generalized Voronoi diagrams or properties of existing generalized Voronoi diagrams; and applications of Voronoi diagrams and their duals in graph theory, computer graphics, bioinformatics, and spatial process simulation.
| Author | : Christian Freksa |
| Publisher | : Springer |
| Total Pages | : 531 |
| Release | : 2005-02-22 |
| Genre | : Computers |
| ISBN | : 3540322558 |
This is the fourth volume in a series of books dedicated to basic research in spatial cognition. Spatial cognition is a field that investigates the connection between the physical spatial world and the mental world. Philosophers and researchers have p- posed various views concerning the relation between the physical and the mental worlds: Plato considered pure concepts of thought as separate from their physical manifestations while Aristotle considered the physical and the mental realms as two aspects of the same substance. Descartes, a dualist, discussed the interaction between body and soul through an interface organ and thus introduced a functional view that presented a challenge for the natural sciences and the humanities. In modern psych- ogy, the relation between the physical and the cognitive space has been investigated using thorough experiments, and in artificial intelligence we have seen views as diverse as ‘problems can be solved on a representation of the world’ and ‘a representation of the world is not necessary. ’ Today’s spatial cognition work establishes a correspondence between the mental and the physical worlds by studying and exploiting their interaction; it investigates how mental space and spatial “reality” join together in understanding the world and in interacting with it. The physical and representational aspects are equally important in this work. Almost all topics of cognitive science manifest themselves in spatial cognition.
| Author | : Jan Oliver Wallgrün |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 233 |
| Release | : 2009-11-28 |
| Genre | : Technology & Engineering |
| ISBN | : 3642103456 |
What is space? Is there space when there are objects to occupy it or is there space only when there are no objects to occupy it? Can there be space without objects? These are old philosophical questions that concern the ontology of space in the philosophical sense of ‘ontology’ – what is the nature of space? Cognitive science in general and arti?cial intelligence in particular are less c- cerned with the nature of things than with their mental conceptualizations. In spatial cognition research we address questions like What do we know about space? How is space represented? What are the representational entities? What are the rep- sentational structures? Answers to these questions are described in what is called ontologies in arti?cial intelligence. Different tasks require different knowledge, and different representations of knowledge facilitate different ways of solving problems. In this book, Jan Oliver Wallgrün develops and investigates representational structures to support tasks of autonomous mobile robots, from the acquisition of knowledge to the use of this knowledge for navigation. The research presented is concerned with the robot mapping problem, the pr- lem of building a spatial representation of an environment that is perceived by s- sors that only provide incomplete and uncertain information; this information usually needs to be related to other imprecise or uncertain information. The routes a robot can take can be abstractly described in terms of graphs where alternative routes are represented by alternative branches in these route graphs.
| Author | : Satoshi Murata |
| Publisher | : Springer |
| Total Pages | : 263 |
| Release | : 2012-01-21 |
| Genre | : Technology & Engineering |
| ISBN | : 4431540555 |
It is man’s ongoing hope that a machine could somehow adapt to its environment by reorganizing itself. This is what the notion of self-organizing robots is based on. The theme of this book is to examine the feasibility of creating such robots within the limitations of current mechanical engineering. The topics comprise the following aspects of such a pursuit: the philosophy of design of self-organizing mechanical systems; self-organization in biological systems; the history of self-organizing mechanical systems; a case study of a self-assembling/self-repairing system as an autonomous distributed system; a self-organizing robot that can create its own shape and robotic motion; implementation and instrumentation of self-organizing robots; and the future of self-organizing robots. All topics are illustrated with many up-to-date examples, including those from the authors’ own work. The book does not require advanced knowledge of mathematics to be understood, and will be of great benefit to students in the robotics discipline, including in the areas of mechanics, control, electronics, and computer science. It is also an important source for researchers who wish to investigate the field of robotics or who have an interest in the application of self-organizing phenomena.
