Representing Relative Direction as a Binary Relation of Oriented Points

  • Authors:

  • Reinhard Moratz

  • Affiliations:

  • Transregional Collaborative Research Center “Spatial Cognition”, Faculty of Mathematics and Informatics, University of Bremen, moratz@informatik.uni-bremen.de

  • Venue:
  • Proceedings of the 2006 conference on ECAI 2006: 17th European Conference on Artificial Intelligence August 29 -- September 1, 2006, Riva del Garda, Italy
  • Year:
  • 2006

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Abstract

A central issue in robotics is the representation of relative orientation. Currently, the standard solution utilizes metrical representations. The main reason for this might be that representing rela-tively fine distinctions is useful in many robotics tasks. If qualitative spatial constraint calculi are to be applied to cognitve robotics, they therefore have to afford relatively fine distinctions. The challenge for us then is to find a calculus which allows these fine distinctions, and yet is still simple enough to provide a provably minimal composition table. In this paper we introduce a new calculus about oriented points which has a scalable granularity. In this calculus, named $\mathcal{OPRA}$, simple rules can generate the minimal composition table. Furthermore, the algebraic closure for a set of $\mathcal{OPRA}$ statements is sufficient to solve knowledge integration tasks in robotics.