Spatial Representation for Navigation in Animats

Spatial Representation for Navigation in Animats

This article considers the problem of spatial representation for animat navigation systems. It is proposed that the global navigation task, or wayfinding, is best supported by multiple interacting sub-systems, each of which builds its own partial representation of relevant world knowledge. Evidence from the study of animal navigation is reviewed to demonstrate that similar principles underlie t...

Spatial Representation for Pragmatic Navigation

As described here, pragmatic navigation attempts to harness simple facts about a two-dimensional environment to facilitate travel through it without an explicit map. It relies upon predefined spatial representations whose explicit instances are learned during a sequence of trips through a fixed maze. Once learned, any of these instances can be applied to subsequent travel. Some of the represent...

A Unified Spatial Representation for Navigation Systems

Biomimetic Navigation Models and Strategies in Animats

This paper describes a hierarchy of four navigation strategies guidance place recognition triggered response topological navigation and metric navi gation Such a hierarchy can be used to categorize models that are inspired by current knowledge about the way animals navigate in their environments The main mechanisms implemented in each model are described together with the basic adaptive capacit...

LOGnets: A Hybrid Graph Spatial Representation for Robot Navigation

In this article we present a novel, hybrid graph spatial representation for robot navigation. This representation enables our mobile robot to build a model of its surroundings which it can then use for navigation. The models or maps that use this representation are hybrid graphs, the nodes being analogical local maps of landmark locations in the robot’s environment, the arcs being the actions t...