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Intelligent Systems, Control and Automation: Science and Engineering

Multi-Hierarchical Representation of Large-Scale Space

Applications to Mobile Robots

Authors: Fernández, Juan A., González, Javier

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  • ISBN 978-94-015-9666-4
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About this book

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)

Table of contents (7 chapters)

Buy this book

eBook $119.00
price for USA in USD (gross)
  • ISBN 978-94-015-9666-4
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $219.99
price for USA in USD
  • ISBN 978-1-4020-0105-5
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $159.99
price for USA in USD
  • ISBN 978-90-481-5861-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Multi-Hierarchical Representation of Large-Scale Space
Book Subtitle
Applications to Mobile Robots
Authors
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