Hierarchical Voronoi Graphs Spatial Representation and Reasoning for
What is space? Is there space when there are objects to occupy it or is there space only when there are no objects to occupy it? Can there be space without objects? These are old philosophical questions that concern the ontology of space in the philosophi
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Jan Oliver Wallgrün
Hierarchical Voronoi Graphs Spatial Representation and Reasoning for Mobile Robots
Dr.-Ing. Jan Oliver Wallgrün Cognitive Systems Group Department of Mathematics and Informatics University of Bremen P.O. Box 330 440 28334 Bremen Germany [email protected]
This thesis was accepted as doctoral dissertation by the Department of Mathematics and Informatics, University of Bremen, under the title “Hierarchical Route Graph Representations for Mobile Robots Based on Generalized Voronoi Graphs”. Based on this work the author was granted the academic degree Dr.-Ing.
Date of oral examination: 19 August 2008 Reviewers: Prof. Christian Freksa, Ph.D. (University of Bremen, Germany) Prof. Benjamin Kuipers, Ph.D. (University of Texas at Austin, USA)
ISBN 978-3-642-10302-5 e-ISBN 978-3-642-10345-2 DOI 10.1007/978-3-642-10345-2 Springer Heidelberg Dordrecht London New York Library of Congress Control Number: 2009941853 ACM Computing Classification (1998): I.2, J.2. © Springer-Verlag Berlin Heidelberg 2010 This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Cover design: KuenkelLopka GmbH Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
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Foreword What is space? Is there space when there are objects to occupy it or is there space only when there are no objects to occupy it? Can there be space without objects? These are old philosophical questions that concern the ontology of space in the philosophical sense of ‘ontology’ – what is the nature of space? Cognitive science in general and artificial intelligence in particular are less concerned with the nature of things than with their mental conceptualizations. In spatial cognition research we address questions like What do we know about space? How is space represented? What are the representational entities? What are the representational structures? Answers to these questions are described in what is called ontologies in artificial intelligence. Different tasks require different knowledge, and different representations of knowledge facilitate different ways of solving problems. In this book, Jan Oliver Wallgrün develops and investigates representational structures to support tasks of autonomous mobile robots,
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