Egocentric qualitative spatial knowledge representation for physical robots

Thomas Wagner, Ubbo Visser, Otthein Herzog

Research output: Contribution to conferencePaperpeer-review

3 Scopus citations


Although recent (physical) robots have powerful sensors and actuators their abilities to show intelligent behavior is often limited. One key reason is the lack of an appropriate spatial representation. Spatial knowledge plays a crucial role in navigation, (self- and object-)localization, planning and reasoning for physical grounded robots. However, it is a major difficulty of most existing approaches that each of these tasks imposes heterogeneous requirements on the representation. In this paper, we propose an egocentric representation, which relies on 1-D ordering information that still provides sufficient allocentric information to solve navigation and (self- and object) localization tasks. Furthermore, we claim that our approach supports an efficient, incremental process based on a simple 1D-representation. We conclude with a more abstract qualitative spatial representation.

Original languageEnglish (US)
Number of pages8
StatePublished - 2004
Externally publishedYes
Event2004 AAAI Spring Symposium - Stanford, CA, United States
Duration: Mar 22 2004Mar 24 2004


Other2004 AAAI Spring Symposium
Country/TerritoryUnited States
CityStanford, CA

ASJC Scopus subject areas

  • Engineering(all)


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