Spatial Navigation with Uncertain Deviations

Michel de Rougemont, Christoph Schlieder

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.

This page is copyrighted by AAAI. All rights reserved. Your use of this site constitutes acceptance of all of AAAI's terms and conditions and privacy policy.