A Framework for Robust Cognitive Spatial Mapping
2009 (English)In: 2009 International Conference on Advanced Robotics, ICAR 2009, IEEE , 2009, 686-693 p.Conference paper (Refereed)
Spatial knowledge constitutes a fundamental component of the knowledge base of a cognitive, mobile agent. This paper introduces a rigorously defined framework for building a cognitive spatial map that permits high level reasoning about space along with robust navigation and localization. Our framework builds on the concepts of places and scenes expressed in terms of arbitrary, possibly complex features as well as local spatial relations. The resulting map is topological and discrete, robocentric and specific to the agent's perception. We analyze spatial mapping design mechanics in order to obtain rules for how to define the map components and attempt to prove that if certain design rules are obeyed then certain map properties are guaranteed to be realized. The idea of this paper is to take a step back from existing algorithms and literature and see how a rigorous formal treatment can lead the way towards a powerful spatial representation for localization and navigation. We illustrate the power of our analysis and motivate our cognitive mapping characteristics with some illustrative examples.
Place, publisher, year, edition, pages
IEEE , 2009. 686-693 p.
Cognitive mapping, Design rules, Fundamental component, High-level reasoning, Illustrative examples, Knowledge base, Localization and navigation, Robust navigation, Spatial knowledge, Spatial mapping, Spatial relations, Spatial representations, Knowledge based systems, Mobile agents, Navigation, Robotics
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-30423ISI: 000270815500110ScopusID: 2-s2.0-70449339918ISBN: 978-1-4244-4855-5OAI: oai:DiVA.org:kth-30423DiVA: diva2:400669
14th International Conference on Advanced Robotics, Munich, Germany, JUN 22-26, 2009
FunderEU, FP7, Seventh Framework Programme, CogXSwedish Research Council, 621-2006-4520
QC 201102282011-02-282011-02-242014-10-10Bibliographically approved