Journal of the ACM (JACM)
The spatial semantic hierarchy
Artificial Intelligence
Exploring artificial intelligence in the new millennium
Towards a general theory of topological maps
Artificial Intelligence
Qualitative Spatial Representation and Reasoning: An Overview
Fundamenta Informaticae - Qualitative Spatial Reasoning
Representing Relative Direction as a Binary Relation of Oriented Points
Proceedings of the 2006 conference on ECAI 2006: 17th European Conference on Artificial Intelligence August 29 -- September 1, 2006, Riva del Garda, Italy
Qualitative spatial representation and reasoning in the SparQ-toolbox
SC'06 Proceedings of the 2006 international conference on Spatial Cognition V: reasoning, action, interaction
Autonomous construction of hierarchical voronoi-based route graph representations
SC'04 Proceedings of the 4th international conference on Spatial Cognition: reasoning, Action, Interaction
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Topological maps are graph-based representations of space and have been considered as an alternative to metric representations in the context of robot navigation. In this work, we seek to improve on the lack of robustness of current topological mapping systems against ambiguity in the available information about the environment. For this purpose, we develop a topological mapping system that tracks multiple graph hypotheses simultaneously. The feasibility of the overall approach depends on a reduction of the search space by exploiting spatial constraints. We here consider qualitative direction information and the assumption that the map has to be planar. Qualitative spatial reasoning techniques are used to check the satisfiability of individual hypotheses. We evaluate the effects of absolute and relative direction information using relations from two different qualitative spatial calculi and combine the approach with a topological mapping system based on Voronoi graphs realized on a real robot.