Multiple Hierarchies of Abstraction for Mobile Robots
This chapter focuses on real applications of the automatic multiple abstraction system described in chapter 5 to mobile robots. Two examples of interface with ground information are described: one for navigation of a mobile robot and another one that integrates CLAUDIA into the SSH (Kuipers, 2000). The SSH (Spatial Semantic Hierarchy) is a widely known computational model of the human cognitive map consisting of several ontological levels. In particular, at the SSH topological level, space is represented by places and connectivity relations among them. Places are arranged into paths so that the topological representation looks like the street network of a city. That information is directly provided to the task-driven optimizer of CLAUDIA, which comes up with a multihierarchical representation of the explored world.
KeywordsMobile Robot Hierarchical Level Distinctive State Autonomous Mobile Robot Ground Information
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