Functional understanding of space: Representing spatial knowledge using concepts grounded in an agent's purpose
2011 (English)Doctoral thesis, monograph (Other academic)
This thesis examines the role of function in representations of space by robots - that is, dealing directly and explicitly with those aspects of space and objects in space that serve some purpose for the robot. It is suggested that taking function into account helps increase the generality and robustness of solutions in an unpredictable and complex world, and the suggestion is affirmed by several instantiations of functionally conceived spatial models. These include perceptual models for the "on" and "in" relations based on support and containment; context-sensitive segmentation of 2-D maps into regions distinguished by functional criteria; and, learned predictive models of the causal relationships between objects in physics simulation. Practical application of these models is also demonstrated in the context of object search on a mobile robotic platform.
Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology , 2011. , viii, 135 p.
Trita-CSC-A, ISSN 1653-5723 ; 2011:21
spatial representation, autonomous robots, spatial understanding, semantic mapping, spatial relations, visual search, robot search
IdentifiersURN: urn:nbn:se:kth:diva-48400ISBN: 978-91-7501-186-8OAI: oai:DiVA.org:kth-48400DiVA: diva2:457524
2011-12-16, F3, Lindstedtsvägen 26, KTH, Stockholm, 13:00 (English)
Vernon, David, Professor
Jensfelt, Patric, Docent
FunderEU, FP7, Seventh Framework Programme, ICT-215181Swedish Research Council, 621-2006-4520
QC 201111252011-11-252011-11-182011-11-25Bibliographically approved