Planning Routes through uncertain territory
Artificial Intelligence
Automatic control systems (5th ed.)
Automatic control systems (5th ed.)
Towards a computational theory of cognitive maps
Artificial Intelligence
Automatically generating abstractions for problem solving
Automatically generating abstractions for problem solving
Artificial Intelligence
Handbook of logic in artificial intelligence and logic programming (vol. 3)
Downward refinement and the efficiency of hierarchical problem solving
Artificial Intelligence
Effective graph clustering for path queries in digital map databases
CIKM '96 Proceedings of the fifth international conference on Information and knowledge management
Hierarchical optimization of optimal path finding for transportation applications
CIKM '96 Proceedings of the fifth international conference on Information and knowledge management
Speeding up problem solving by abstraction: a graph oriented approach
Artificial Intelligence - Special volume on empirical methods
Clique r-Domination and Clique r-Packing Problems on Dually Chordal Graphs
SIAM Journal on Discrete Mathematics
A network flow approach for hierarchical tree partitioning
DAC '97 Proceedings of the 34th annual Design Automation Conference
Artificial intelligence and mobile robots: case studies of successful robot systems
Artificial intelligence and mobile robots: case studies of successful robot systems
Navigating Mobile Robots: Systems and Techniques
Navigating Mobile Robots: Systems and Techniques
Computers and Intractability: A Guide to the Theory of NP-Completeness
Computers and Intractability: A Guide to the Theory of NP-Completeness
Graph Clustering 1: Circles of Cliques
GD '97 Proceedings of the 5th International Symposium on Graph Drawing
Qualitative Spatial Representation for Information Retrieval by Gazetteers
COSIT 2001 Proceedings of the International Conference on Spatial Information Theory: Foundations of Geographic Information Science
A multi-agent control architecture for a robotic wheelchair
Applied Bionics and Biomechanics
Hi-index | 0.00 |
We are interested in the problem of how an agent organizes its sensorimotor experiences in order to create a spatial representation. Our approach to solve this problem is the Spatial Semantic Hierarchy (SSH), an ontological hierarchy of representations for knowledge of large-scale space. At the SSH topological level, space is represented by places and connectivity relationships among them. Places are arranged into paths so that the topological representation looks like the street network of a city. Grouping places into regions allows an agent to reason efficiently about its spatial knowledge. Regions can be organized in a hierarchical structure suitable for hierarchical planning and human-level interface. In this paper we show how a hierarchy of regions can be automatically created by an agent. We extend the SSH axiomatic theory to include regions as first order objects at the SSH topological level. Based on this formalization, an implementation using Annotated Hierarchical graphs (AH-graphs) is proposed. The AH-graph model is chosen for its efficiency to perform basic operations like path planning, its facility to integrate information needed by different agent's tasks, and because it provides a large indexed database of knowledge about the world with a friendly flow of information from and to human operators.