Multi-Hierarchical Representation of Large-Scale Space

Applications to Mobile Robots

Häftad, Engelska, 2010

Av Juan A. Fernández, Javier González

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This book formalizes multiple abstraction (arranging knowledge hierarchically using more than one hierarchy) based on graphs, and studies in-depth its implications in path search, graph isomorphism, and in the automatic construction of multi-hierarchical structures. It also describes its application as a model of the large-scale space environment of mobile robots, including real mobile robots and a well-known computational model of the human cognitive map: the Spatial Semantic Hierarchy. This book is intended for PhD students and in general for robotics, computer science, and artificial intelligence researchers.

Produktinformation

Utgivningsdatum2010-12-15
Mått155 x 235 x 17 mm
Vikt458 g
FormatHäftad
SpråkEngelska
SerieIntelligent Systems, Control and Automation: Science and Engineering
Antal sidor276
FörlagSpringer
ISBN9789048158614

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1. Introduction.- 2. Hierarchies of Abstraction in Literature.- 3. A Formal Model of Multiple Abstraction.- 4. Hierarchical Path Search.- 5. Automatic Generation of Multiple Hierarchies of Abstraction.- 6. Multiple Hierarchies of Abstraction for Mobile Robots.- 7. Conclusions.- Appendix A. NP-Completeness Overview.- Appendix B. Algorithm for Hierarchical Path Search.- Appendix C. The Cohesion Forces Clustering Algorithm.- Appendix D. The OEET Clustering Algorithm.- D.1. Introduction.- D.2. The OEET Algorithm.- D.2.1. First Stage: Retrieving Path Information.- D.2.2. Second Stage: Arc-Elimination Test and Arc-Erasing Process.- Behaviour of the Optimal Paths.- Behaviour of the Non-Optimal Paths.- Appendix E. Computational Cost of Hierarchical Path Search.- E.1. Computational Cost in Hierarchies with Two Hierarchical Levels.- E.2. Computational Cost in Hierarchies with More Than Two Hierarchical Levels.- Appendix F. Sufficient Condition for Optimality When There is No Materialization of Costs.- F.1. When the Cost of Refining Paths is a Constant.- F.2. When the Cost of Refining Paths is Bounded by the Costs of the Arcs.- References.