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
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:kth-48400 |
| Date | January 2011 |
| Creators | Sjöö, Kristoffer |
| Publisher | KTH, Datorseende och robotik, CVAP, KTH, Centrum för Autonoma System, CAS, Stockholm : KTH Royal Institute of Technology |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Doctoral thesis, monograph, info:eu-repo/semantics/doctoralThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
| Relation | Trita-CSC-A, 1653-5723 ; 2011:21, info:eu-repo/grantAgreement/EC/FP7/ICT-215181 |
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