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【分享】Hierarchical Voronoi Graphs.Springer.2010
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Hierarchical Voronoi Graphs_Spatial Representation and Reasoning for Mobile Robots 免责声明 本资源来自于互联网，仅供网络测试之用，请务必在下载后24小时内删除！所有资源不涉及任何商业用途。发帖人不承担由下载使用者引发的一切法律责任及连带责任！ 著作权归原作者或出版社所有。未经发贴人conanwj许可，严禁任何人以任何形式转贴本文，违者必究！ 如果本帖侵犯您的著作权，请与conanwj联系，收到通知后我们将立即删除此帖！ Authors(Editors): Jan Oliver Wallgrun Publisher: Springer Pub Date: 2010 Pages: 218 ISBN: ISBN 978-3-642-10302-5 e-ISBN 978-3-642-10345-2 DOI 10.1007/978-3-642-10345-2 Foreword What is space? Is there space when there are objects to occupy it or is there space only when there are no objects to occupy it? Can there be space without objects? These are old philosophical questions that concern the ontology of space in the philosophical sense of ‘ontology’ – what is the nature of space? Cognitive science in general and artificial intelligence in particular are less concerned with the nature of things than with their mental conceptualizations. In spatial cognition research we address questions like What do we know about space? How is space represented? What are the representational entities? What are the representational structures? Answers to these questions are described in what is called ontologies in artificial intelligence. Different tasks require different knowledge, and different representations of knowledge facilitate different ways of solving problems. In this book, Jan OliverWallgrün develops and investigates representational structures to support tasks of autonomous mobile robots, from the acquisition of knowledge to the use of this knowledge for navigation. The research presented is concerned with the robot mapping problem, the problem of building a spatial representation of an environment that is perceived by sensors that only provide incomplete and uncertain information; this information usually needs to be related to other imprecise or uncertain information. The routes a robot can take can be abstractly described in terms of graphs where alternative routes are represented by alternative branches in these route graphs. The proposed hierarchical Voronoi graph representation provides a conceptualization of space excellently suited for navigation, high-level spatial reasoning about environments, and agent-agent communication about navigable space. The problem is that the Voronoi representations are rather sensitive to measurement errors; therefore unique representations cannot easily be derived in practice. In this book, Jan Oliver Wallgrün presents a number of significant contributions to the state of the art in robot mapping by developing techniques for generating stable Voronoi representations from real sensor data. Robot mapping and the construction of Voronoi graphs can also be seen as a spatial reasoning problem in which local spatial knowledge has to be consistently integrated into global knowledge. On an abstract qualitative level, these kinds of spatial reasoning problems are studied in the area of qualitative spatial reasoning. Jan Oliver Wallgrün successfully brings together these two distinct research areas; this results in a multi-hypothesis tracking framework for topological mapping. From the perspective of qualitative spatial reasoning, the work describes an instructive application domain for comparing spatial calculi. It also provides valuable results regarding the applicability of direction information and existing reasoning techniques. The research presented in this book raises significant challenges for the development of spatial calculi and spatial reasoning systems that have to be addressed by future theoretical research. Bremen, Christian Freksa July, 2009 本资源链接共6个可选网络硬盘链接，3.79 MB。 -------------------------------------------------------------------------------------------------------- 3.79 Hierarchical Voronoi Graphs_Spatial Representation and Reasoning for Mobile Robots.9783642103025.p218.Springer.2009.rar https://rapidshare.com/files/389 ... s.9783642103025.p21 https://uploading.com/files/da3c ... .9783642103025.p21/ https://www.easy-share.com/1910299670/Hierarchical Voronoi Graphs_Spatial Representation and Reasoning for Mobile Robots.9783642103025.p218.Springer.2009.rar https://depositfiles.com/files/q73b7eu05 https://www.divshare.com/download/11428328-c24 https://www.sendspace.com/file/i5ffcv -------------------------------------------------------------------------------------------------------- |
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