Hierarchical Voronoi Graphs Spatial Representation and Reasoning for Mobile Robots /

• Main Author: Wallgrün, Jan Oliver (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2010.
• Subjects: Engineering.; Artificial intelligence.; Robotics.; Automation.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).

What is space? Is there space when there are objects to occupy it or is there space only when there are no objects to occupy it? Can there be space without objects? These are old philosophical questions that concern the ontology of space in the philosophical sense of ‘ontology’ – what is the nature...

Table of Contents:

• Robot Mapping
• Voronoi-Based Spatial Representations
• Simplification and Hierarchical Voronoi Graph Construction
• Voronoi Graph Matching for Data Association
• Global Mapping: Minimal Route Graphs Under Spatial Constraints
• Experimental Evaluation
• Conclusions and Outlook.