Spatial Navigation with Uncertain Deviations
Abstract
We consider geometrical scenes with obstacles and landmarks that can't necessarily be distinguished and generalize the notion of panoramas (Sch93; Her94), introduced in the qualitative Spatial Reasoning (QSR) approaches to robot navigation. We study various notions of motion strategies in the accessibility graph associated with the local panoramas under uncertain deviations, a natural model of uncertainty for motion planning and navigation. We show that randomized motion strategies can be better than deterministic ones with a finite memory and stress the usefulness of random decisions for qualitative spatial reasoning.
Cite
Text
de Rougemont and Schlieder. "Spatial Navigation with Uncertain Deviations." AAAI Conference on Artificial Intelligence, 1997.Markdown
[de Rougemont and Schlieder. "Spatial Navigation with Uncertain Deviations." AAAI Conference on Artificial Intelligence, 1997.](https://mlanthology.org/aaai/1997/derougemont1997aaai-spatial/)BibTeX
@inproceedings{derougemont1997aaai-spatial,
title = {{Spatial Navigation with Uncertain Deviations}},
author = {de Rougemont, Michel and Schlieder, Christoph},
booktitle = {AAAI Conference on Artificial Intelligence},
year = {1997},
pages = {649-654},
url = {https://mlanthology.org/aaai/1997/derougemont1997aaai-spatial/}
}