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Functional understanding of space : Representing spatial knowledge using concepts grounded in an agent's purpose

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. / QC 20111125

Identiferoai:union.ndltd.org:UPSALLA1/oai:DiVA.org:kth-48400
Date January 2011
CreatorsSjöö, Kristoffer
PublisherKTH, Datorseende och robotik, CVAP, KTH, Centrum för Autonoma System, CAS, Stockholm : KTH Royal Institute of Technology
Source SetsDiVA Archive at Upsalla University
LanguageEnglish
Detected LanguageEnglish
TypeDoctoral thesis, monograph, info:eu-repo/semantics/doctoralThesis, text
Formatapplication/pdf
Rightsinfo:eu-repo/semantics/openAccess
RelationTrita-CSC-A, 1653-5723 ; 2011:21, info:eu-repo/grantAgreement/EC/FP7/ICT-215181

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