On the Identification and Establishment of Topological Spatial Relations
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Human beings use spatial relations to describe many daily tasks in their language. However, to date in robotics the navigation problem has been thoroughly investigated as the task of guiding a robot from one spatial coordinate to another. Therefore, there is a difference of abstraction between the language of human beings and the algorithms used in robot navigation. This article introduces the research performed on the use of topological relations for the formalization of spatial relations and navigation. The main result is a new heuristic, called Heuristic of Topological Qualitative Semantic (HTQS), which allows the identification and establishment of spatial relations.
Keywordsqualitative navigation spatial relations Heuristic of Topological Qualitative Semantic (HTQS)
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