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A Framework for Robust Cognitive Spatial Mapping
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-1396-0102
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
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2009 (English)In: 2009 International Conference on Advanced Robotics, ICAR 2009, IEEE , 2009, 686-693 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
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
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-30423ISI: 000270815500110Scopus ID: 2-s2.0-70449339918ISBN: 978-1-4244-4855-5 (print)OAI: oai:DiVA.org:kth-30423DiVA: diva2:400669
Conference
14th International Conference on Advanced Robotics, Munich, Germany, JUN 22-26, 2009
Funder
EU, FP7, Seventh Framework Programme, CogXSwedish Research Council, 621-2006-4520
Note

QC 20110228

Available from: 2011-02-28 Created: 2011-02-24 Last updated: 2014-10-10Bibliographically approved

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Pronobis, AndrzejJensfelt, Patric

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Pronobis, AndrzejSjöö, KristofferAydemir, AlperBishop, Adrian N.Jensfelt, Patric
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