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Spatial Cognition II pp 100–114Cite as

Schematic Maps for Robot Navigation

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 1849))

Abstract

An approach to high-level interaction with autonomous robots by means of schematic maps is outlined. Schematic maps are knowledge representation structures to encode qualitative spatial information about a physical environment. A scenario is presented in which robots rely on high-level knowledge from perception and instruction to perform navigation tasks in a physical environment. The general problem of formally representing a physical environment for acting in it is discussed. A hybrid approach to knowledge and perception driven navigation is proposed. Different requirements for local and global spatial information are noted. Different types of spatial representations for spatial knowledge are contrasted. The advantages of high-level / low-resolution knowledge are pointed out. Creation and use of schematic maps are discussed. A navigation example is presented.

Support by the Deutsche Forschungsgemeinschaft, the International Computer Science Institute, and the Berkeley Initiative in Soft Computing is gratefully acknowledged.

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Author information

Authors and Affiliations

  1. Department for Informatics, University of Hamburg, Vogt-Kölln-Str. 30, 22527, Hamburg, Germany

    Christian Freksa, Reinhard Moratz & Thomas Barkowsky

Authors
  1. Christian Freksa
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  2. Reinhard Moratz
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  3. Thomas Barkowsky
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Editor information

Editors and Affiliations

  1. Fachbereich Informatik, Universität Hamburg, Vogt-Kölln-Str. 30, 22527, Hamburg, Germany

    Christian Freksa  & Christopher Habel  & 

  2. Fakultät für Informatik, Technische Universität München, 80290, München, Germany

    Wilfried Brauer

  3. FB 1 - Psychologie, Universität Trier, 54286, Trier, Germany

    Karl F. Wender

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Freksa, C., Moratz, R., Barkowsky, T. (2000). Schematic Maps for Robot Navigation. In: Freksa, C., Habel, C., Brauer, W., Wender, K.F. (eds) Spatial Cognition II. Lecture Notes in Computer Science(), vol 1849. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45460-8_8

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  • DOI: https://doi.org/10.1007/3-540-45460-8_8

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-67584-6

  • Online ISBN: 978-3-540-45460-1

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