Abstract
Multifunctional Robot On Topological Notions (MROTN) is a research program that has as one of its goals to develop qualitative algorithms that make navigation decisions. This article presents new research from MROTN that extends previous results by allowing an agent to carry out qualitative reasoning about direction and spinning. The main result is a new heuristic, the Heuristic of Directional Qualitative Semantic (HDQS), which allows for selecting a spinning action to establish a directional relation between an agent and an object. The HDQS is based on the key idea of encoding directional information into topological relations. The new heuristic is important to the MROTN because it permits the continued development of qualitative navigation methods based on topological notions. We show this by presenting a new version of the Topological Qualitative Architecture of Navigation that uses the HDQS to address situations that require spinning.
Highlights
In robotics, there are two approaches to each task: quantitative and qualitative
This paper presents new results obtained in a program, called Multifunctional Robot On Topological Notions (MROTN), initiated to research the use of topological notions to represent qualitative spatial relations and to apply these notions to produce multifunctional robots [1,2,3,4]
This article presents the research performed in the MROTN program about making spinning decisions to establish orientation states between an object and an agent
Summary
There are two approaches to each task: quantitative and qualitative. One of the advantages of using quantitative methods is that the information obtained by the sensors available to a robot (bumpers, sonars, lasers, etc.) can be directly expressed in a geometric representation of space. Quantitative methods have an important disadvantage because they lack sufficient expressivity to allow a mobile robot to perform tasks which go beyond mere movement from one spatial point to another This is a problem, given that human beings mainly make use of relationships between spatial areas to communicate tasks and information. The research presented in this article (which is based on one section of a chapter of the author’s PhD thesis [21]) focuses on making qualitative decisions about spinning in local navigation This is an important topic because the natural way humans communicate spatial tasks is by making use of spatial relations.
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