Multiple Abstraction Hierarchies For Mobile Robot Operation In Large Environments
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Multiple Abstraction Hierarchies for Mobile Robot Operation in Large Environments
This book focuses on the performance of mobile robots through the use of multi-hierarchical symbolic representations of the environment. To perform deliberative actions, a robot must possess some symbolic representation of its workspace, but representations of real environments can become so large that they must be conveniently arranged to facilitate and, in some cases, make possible their use. Practical solutions tested on real robots, for example a robotic wheelchair, are provided.
Multi-Hierarchical Representation of Large-Scale Space
Author: Juan A. Fernández
language: en
Publisher: Springer Science & Business Media
Release Date: 2013-03-09
It has been stated in psychology that human brain arranges information in a way that improves efficiency in performing common tasks, for example, information about our spatial environment is conveniently structured for efficient route finding. On the other hand, in computational sciences, the use of hierarchical information is well known for reducing the complexity of solving problems. This book studies hierarchical representations of large-scale space and presents a new model, called Multi-AH-graph, that uses multiple hierarchies of abstraction. It allows an agent to represent structural information acquired from the environment (elements such as objects, free space, etc., relations existing between them, such as proximity, similarity, etc. and other types of information, such as colors, shapes, etc). The Multi-AH-graph model extends a single hierarchy representation to a mUltiple hierarchy arrangement, which adapts better to a wider range of tasks, agents, and environments. We also present a system called CLAUDIA, which is an implementation of the task-driven paradigm for automatic construction of multiple abstractions: a set of hierarchies of abstraction will be "good" for an agent if it can reduce the cost of planning and performing certain tasks of the agent in the agent's world. CLAUDIA constructs multiple hierarchies (Multi-AH-graphs) for a given triple , trying to optimize their "goodness".
Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods
Author: Fernández-Madrigal, Juan-Antonio
language: en
Publisher: IGI Global
Release Date: 2012-09-30
As mobile robots become more common in general knowledge and practices, as opposed to simply in research labs, there is an increased need for the introduction and methods to Simultaneous Localization and Mapping (SLAM) and its techniques and concepts related to robotics. Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods investigates the complexities of the theory of probabilistic localization and mapping of mobile robots as well as providing the most current and concrete developments. This reference source aims to be useful for practitioners, graduate and postgraduate students, and active researchers alike.