Qualitative Spatial Reasoning with Conceptual Neighborhoods for Agent Control

摘要

Research on qualitative spatial reasoning has produced a variety of calculi for reasoning about orientation or direction relations. Such qualitative abstractions are very helpful for agent control and communication between robots and humans. Conceptual neighborhood has been introduced as a means of describing possible changes of spatial relations which e.g. allows action planning at a high level of abstraction. We discuss how the concrete neighborhood structure depends on application-specific parameters and derive corresponding neighborhood structures for the OPRA{sub}m calculus. We demonstrate that conceptual neighborhoods allow resolution of conflicting information by model-based relaxation of spatial constraints. In addition, we address the problem of automatically deriving neighborhood structures and show how this can be achieved if the relations of a calculus can be modeled in another calculus for which the neighborhood structure is known.