Spatial Reasoning and Planning Geometry, Mechanism, and Motion
Spatial reasoning and planning is a core constituent in robotics, graphics, computer-aided design, and geographic information systems. After a review of previous work in the related areas, Liu and Daneshmend present here a unified framework for qualitative spatial representation and reasoning, which...
| Main Authors: | , |
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| Format: | eBook |
| Language: | English |
| Published: |
Berlin, Heidelberg
Springer Berlin Heidelberg
2004, 2004
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| Edition: | 1st ed. 2004 |
| Series: | Advanced Information Processing
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| Subjects: | |
| Online Access: | |
| Collection: | Springer Book Archives -2004 - Collection details see MPG.ReNa |
Table of Contents:
- 9.3 Incorporating m-Uncertainty
- 9.4 Collective Spatial Map Construction
- 9.5 Self-Organization of a Potential Map
- 9.6 Experiments
- 9.7 Summary
- 10 Concluding Remarks
- 10.1 Key Concepts Revisited
- 10.2 Practical Application
- 10.3 Limitations
- 10.4 Future Challenges
- Appendices
- B The Boltzmann Distribution in Simulated Annealing
- C Qualitative Route Search Based on A. Algorithm
- References
- 5.3 Spatial Planning in Q-Space
- 5.4 Quantitative Configuration Generation with Simulated Annealing
- 6 How to Reason about Mechanism Configurations
- 6.1 An Overview of the Method
- 6.2 Qualitative Configuration Analysis
- 6.3 Quantitative Configuration Generation
- 6.4 Discussions
- 6.6 Summary
- 7 How to Reason about Velocity Relationships
- 7.1 Instantaneous Rotation Center
- 7.2 Velocity Relationship Analysis
- 7.3 Examples
- 7.4 Notes on the Application of Velocity Analysis
- 7.5 Relative Motion Method of Analyzing Velocities
- 7.5.2 Kinematic Modeling
- 7.6 Qualitative Analysis of Relative Velocities
- 7.7 An Example
- 7.8 Summary
- 8 How to Plan Robot Motions
- 8.1 An Overview of the Method
- 8.2 Qualitative Route Planning in the m-Edge Partitioned Euclidean Free-Space
- 8.3 Constructing Exact Paths from Qualitative Routes
- 8.4 GraphicalSimulations
- 9 How to Make Spatial Measurements and Maps
- 9.1 Mapping
- 9.2 m-Uncertainty and FS Theory
- 1 Introduction
- 1.1 Motivation
- 1.2 Issues
- 1.3 Scope of the Book
- 1.4 Organization of the Book
- 2 Overview of Spatial Reasoning and Planning Techniques
- 2.1 Computer-Aided Kinematic Design of Mechanisms
- 2.2 Geometric Path Planning
- 2.2.1 Path Search in Configuration Space
- 2.3 Qualitative Reasoning
- 3 Interesting Problems in Spatial Reasoning and Planning
- 3.1 Terminology and Notation
- 3.2 The Problems
- 3.3 Assumptions
- 4 How to Represent Qualitative Spatial Relationships
- 4.1 Qualitative Distance
- 4.2 Qualitative Angle
- 4.3 Notes on Label-Based Distance and Angle Descriptions
- 4.4 Completeness
- 4.5 Minimum-Spanning Edge (m-Edge) between Two Polygons
- 4.6 Qualitative Location in a Convex Polygonal Environment
- 4.7 Graphic Representation of the m-Edge Partitioned Free-Space
- 4.8 Notes on Qualitative Location
- 5 Methodology of Spatial Reasoning and Planning
- 5.1 Spatial Inferencing
- 5.2 Envisionments