Multi-Hierarchical Representation of Large-Scale Space
Applications to Mobile Robots
Authors: Fernández, Juan A., González, Javier
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- About this book
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It has been stated in psychology that human brain arranges information in a way that improves efficiency in performing common tasks, for example, information about our spatial environment is conveniently structured for efficient route finding. On the other hand, in computational sciences, the use of hierarchical information is well known for reducing the complexity of solving problems. This book studies hierarchical representations of large-scale space and presents a new model, called Multi-AH-graph, that uses multiple hierarchies of abstraction. It allows an agent to represent structural information acquired from the environment (elements such as objects, free space, etc., relations existing between them, such as proximity, similarity, etc. and other types of information, such as colors, shapes, etc). The Multi-AH-graph model extends a single hierarchy representation to a mUltiple hierarchy arrangement, which adapts better to a wider range of tasks, agents, and environments. We also present a system called CLAUDIA, which is an implementation of the task-driven paradigm for automatic construction of multiple abstractions: a set of hierarchies of abstraction will be "good" for an agent if it can reduce the cost of planning and performing certain tasks of the agent in the agent's world. CLAUDIA constructs multiple hierarchies (Multi-AH-graphs) for a given triple , trying to optimize their "goodness".
- Table of contents (7 chapters)
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Introduction
Pages 1-8
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Hierarchies of Abstraction in Literature
Pages 9-15
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A Formal Model of Multiple Abstraction
Pages 17-69
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Hierarchical Path Search
Pages 71-113
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Automatic Generation of Multiple Hierarchies of Abstraction
Pages 115-169
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Table of contents (7 chapters)
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Bibliographic Information
- Bibliographic Information
-
- Book Title
- Multi-Hierarchical Representation of Large-Scale Space
- Book Subtitle
- Applications to Mobile Robots
- Authors
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- Juan A. Fernández
- Javier González
- Series Title
- Intelligent Systems, Control and Automation: Science and Engineering
- Series Volume
- 24
- Copyright
- 2001
- Publisher
- Springer Netherlands
- Copyright Holder
- Springer Science+Business Media Dordrecht
- eBook ISBN
- 978-94-015-9666-4
- DOI
- 10.1007/978-94-015-9666-4
- Hardcover ISBN
- 978-1-4020-0105-5
- Softcover ISBN
- 978-90-481-5861-4
- Series ISSN
- 2213-8986
- Edition Number
- 1
- Number of Pages
- XX, 276
- Topics
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