A map is a description of an environment allowing an agent--a human, or in our case a mobile robot--to plan and perform effective actions. From a single location, an agent’s sensors can not observe the whole structure of a complex, large environment. For this reason, the agent must build a map from observations gathered over time and space. We distinguish between large-scale space, with spatial structure larger than the agent’s sensory horizon, and small-scale space, with structure within the sensory horizon. We propose a factored approach to mobile robot map-building that handles qualitatively different types of uncertainty by combining the strengths of topological and metrical approaches. Our framework is based on a computational model of the human cognitive map; thus it allows robust navigation and communication within several different spatial ontologies. Our approach factors the mapping problem into natural sub-goals: building a metrical representation for local small-scale spaces; finding a topological map that represents the qualitative structure of large-scale space; and (when necessary) constructing a metrical representation for large-scale space using the skeleton provided by the topological map. The core contributions of this thesis are a formal description of the Hybrid Spatial Semantic Hierarchy (HSSH), a framework for both small-scale and large-scale representations of space, and an implementation of the HSSH that allows a robot to ground the largescale concepts of place and path in a metrical model of the local surround. Given metrical models of the robot’s local surround, we argue that places at decision points in the world can be grounded by the use of a primitive called a gateway. Gateways separate different regions in space and have a natural description at intersections and in doorways. We provide an algorithmic definition of gateways, a theory of how they contribute to the description of paths and places, and practical uses of gateways in spatial mapping and learning. / text

Scotland's tourist industry partly depends upon the quality of the Scottish landscape. However, despite demands for improved management of landscape resources, there is no standard method for the assessing landscape quality. This research takes a user-based approach to this problem and explores the use of Kelly's Personal Construct Theory (PCT) in eliciting underpinning attributes and dimensions of perception in a range of uses and across a range of Scottish landscapes. A novel aspect of the research is that it involves experimentation in mapping the resultant constructs through use of a Geographic Information System (GIS). Sixteen key constructs were gained from one to one. interviews and used in the preliminary mapping experiments. These showed that it was possible to express the constructs spatially. To evaluate between user group/landscape type responses a questionnaire was designed, piloted and applied. A total of 1286 responses were analyzed. Differences were found between landscape type but were stronger between user groups. The research has demonstrated that the application of PCT coupled to GIS is a valuable way of exploring landscape perception/landscape quality and their spatial expression.

Thesis (PhDHumanMovement)--University of South Australia, 2005.

Exegesis (Hon--Art and Design) -- AUT University, 2006. / Print copy is accompanied by CD. Includes bibliographical references. Also held in print (49 leaves : ill. ; 21 x 30 cm. + CD) in City Campus Theses Collection (T 709.93 LEE )

Thesis (Ph. D.)--University of California, San Diego, 2004. / Vita. Includes bibliographical references (leaves 297-312).

Thesis (Ph. D.)--Oregon State University, 2010. / Printout. Includes bibliographical references (leaves 80-88). Also available on the World Wide Web.

Thesis (M.Sc.-Res.)--University of Wollongong, 2008. / Typescript. Includes bibliographical references: leaf 70-92.

Thesis (M.Sc.)--Memorial University of Newfoundland, 2004. / Bibliography: leaves 48-54.

Thesis (M. Sc.)--University of Canterbury, 2006. / Typescript (photocopy). Includes bibliographical references (leaves 100-115). Also available via the World Wide Web.

Thesis (Ph. D.)--Ohio State University, 2007. / Title from first page of PDF file. Includes bibliographical references (p. 132-138).