Including Qualitative Spatial Knowledge in the Sense-Plan-Act Loop
نویسنده
چکیده
In this paper we present ongoing work on integrating qualitative and metric spatial reasoning into planning for robots. We propose a knowledge representation and reasoning technique, grounded on well-established constraint-based spatial calculi, for combining qualitative and metric knowledge and obtaining plans expressed in actionable metric terms.
منابع مشابه
A Representation for Spatial Reasoning in Robotic Planning
In order to close the sense-plan-act loop, a robot requires several capabilities: it must match perceived context with general knowledge about the environment, instantiate plans into the metric space of the real world, and detect and react to contingencies. All of these capabilities include some form of spatial reasoning — however, at different levels of abstraction. Perception generates metric...
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