Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Skip to main content
Springer Nature Link
Log in

Qualitative Spatial Reasoning with Conceptual Neighborhoods for Agent Control

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

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 \(\mathcal{OPRA}_m\) 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.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Bennett, B., Galton, A.P.: A unifying semantics for time and events. Artif. Intell. 153(1,2), 13–48 (2004), March

    Article  MATH  MathSciNet  Google Scholar 

  2. Cohn, A.G.: Qualitative spatial representation and reasoning techniques. In: Brewka, G., Habel, C., Nebel, B. (eds.) KI-97: Advances in Artificial Intelligence, 21st Annual German Conference on Artificial Intelligence, Freiburg, Germany, September 9-12, 1997. Proceedings, vol. 1303 of Lecture Notes in Computer Science, pp. 1–30. Springer, Berlin Heidelberg New York (1997)

    Google Scholar 

  3. Cohn, A.G., Hazarika, S.M.: Qualitative spatial representation and reasoning: an overview. Fundam. Inform. 46(1,2), 1–29 (2001)

    MATH  MathSciNet  Google Scholar 

  4. Davis, E.: Continuous shape transformation and metrics of shape. Fundam. Inform. 46, 31–54 (2001), May

    MATH  Google Scholar 

  5. Dylla, F., Moratz, R.: Exploiting qualitative spatial neighborhoods in the situation calculus. In: Freksa, C., Knauff, M., Krieg-Brückner, B., Nebel, B., Barkowsky, T. (eds.) Spatial Cognition IV. Reasoning, Action, Interaction: International Conference Spatial Cognition 2004, vol. 3343 of Lecture Notes in Artificial Intelligence, pp. 304–322. Springer, Berlin, Heidelberg, New York (2005)

    Google Scholar 

  6. Dylla, F., Wallgrün, J.O.: On generalizing orientation information in \(\mathcal{OPRA}_m\). In: Proceedings of the 29th German Conference on Artificial Intelligence (KI, June 2006), Bremen, Germany (2006)

  7. Egenhofer, M.J.: A formal definition of binary topological relationships. In: 3rd International Conference on Foundations of Data Organization and Algorithms, New York, NY, USA, pp. 457–472. Springer, Berlin Heidelberg New York (1989)

    Google Scholar 

  8. Frank, A.: Qualitative spatial reasoning about cardinal directions. In: Proceedings of the American Congress on Surveying and Mapping (ACSM-ASPRS), Baltimore, MD, USA, pp. 148–167 (1991)

  9. Freksa, C.: Conceptual neighborhood and its role in temporal and spatial reasoning. In: Singh, M.G., Travé-Massuyès, L. (eds.) Proceedings of the IMACS Workshop on Decision Support Systems and Qualitative Reasoning, pp. 181–187. North-Holland, Amsterdam (1991)

    Google Scholar 

  10. Freksa, C.: Using orientation information for qualitative spatial reasoning. In: Frank, A.U., Campari, I., Formentini, U. (eds.) Theories and Methods of Spatio-temporal Reasoning in Geographic Space, pp. 162–178. Springer, Berlin Heidelberg New York (1992)

    Google Scholar 

  11. Freksa, C.: Spatial cognition – an AI prespective. In: Proceedings of 16th European Conference on AI (ECAI 2004) (2004)

  12. Galton, A.: Continuous motion in discrete space. In: Cohn, A., Giunchiglia, F., Selman, B. (eds.) Proceedings 7th Internat. Conf. on Principles of Knowledge Representation and Reasoning (KR2000), pp. 26–37. Morgan Kaufmann, San Francisco, CA (2000)

    Google Scholar 

  13. Galton, A.: Qualitative Spatial Change. Oxford University Press, London, UK (2000)

    Google Scholar 

  14. Ladkin, P., Reinefeld, A.: Effective solution of qualitative constraint problems. Artif. Intell. 57, 105–124 (1992)

    Article  MathSciNet  Google Scholar 

  15. Ligozat, G.: Qualitative triangulation for spatial reasoning. In: Frank, A.U., Campari, I. (eds.) Spatial Information Theory: A Theoretical Basis for GIS, (COSIT’93), Marciana Marina, Elba Island, Italy, vol. 716 of Lecture Notes in Computer Science, pp. 54–68. Springer, Berlin Heidelberg New York (1993)

    Google Scholar 

  16. Moratz, R.: Intuitive linguistic joint object reference in human-robot interaction. In: Proceedings of the Twenty-first National Conference on Artificial Intelligence (AAAI), Boston, MA. AAAI, Menlo Park, CA (2006), July

    Google Scholar 

  17. Moratz, R.: Representing relative direction as binary relation of oriented points. In: Proceedings of the 17th European Conference on Artificial Intelligence (ECAI, August, 2006), Riva del Garda, Italy (2006)

  18. Moratz, R., Dylla, F., Frommberger, L.: A relative orientation algebra with adjustable granularity. In: Proceedings of the Workshop on Agents in Real-time and Dynamic Environments (IJCAI, July 05), Edinburgh, Scotland (2005)

  19. Moratz, R., Freksa, C.: Spatial reasoning with uncertain data using stochastic relaxation. In: Brauer, W. (ed.) Fuzzy-Neuro Systems 98, pp. 106–112. Infix; Sankt Augustin (1998)

    Google Scholar 

  20. Moratz, R., Renz, J., Wolter, D.: Qualitative spatial reasoning about line segments. In: Horn, W. (ed.) Proceedings of the 14th European Conference on Artificial Intelligence (ECAI), Berlin, Germany. IOS Press, Amsterdam, The Netherlands (2000)

    Google Scholar 

  21. Muller, P.: A qualitative theory of motion based on spatio-temporal primitives. In: Cohn, A.G., Schubert, L., Shapiro, S.C. (eds.) KR’98: Principles of Knowledge Representation and Reasoning, pp. 131–141. Morgan Kaufmann, San Francisco, CA (1998)

    Google Scholar 

  22. Ragni, M., Scivos, A.: Dependency calculus: Reasoning in a general point relation algebra. In: Proceedings of the 28th German Conference on Artificial Intelligence (KI 2005), pp. 49–63 (2005)

  23. Ragni, M., Scivos, A.: Dependency calculus reasoning in a general point relation algebra. In: Kaelbling, L.P., Saffiotti, A. (eds.) IJCAI-05, Proceedings of the Nineteenth International Joint Conference on Artificial Intelligence, Edinburgh, Scotland, UK, 30 July–5 August, 2005, pp. 1577–1578. Professional Book Center, Denver, CO (2005)

    Google Scholar 

  24. Ragni, M., Wölfl, S.: Temporalizing spatial calculi – on generalized neighborhood graphs. In: Proceedings of the 28th German Conference on Artificial Intelligence (KI 2005) (2005)

  25. Randell, D.A., Cui, Z., Cohn, A.: A spatial logic based on regions and connection. In: Nebel, B., Rich, C., Swartout, W. (eds.) Principles of Knowledge Representation and Reasoning: Proceedings of the Third International Conference (KR’92), pp. 165–176. Morgan Kaufmann, San Mateo, CA (1992)

    Google Scholar 

  26. Renz, J., Ligozat, G.: Weak composition for qualitative spatial and temporal reasoning. In: Proceedings of the 11th International Conference on Principles and Practice of Constraint Programming (CP 2005), pp. 534–548, Sitges (Barcelona), Spain (2005), October

  27. Renz, J., Mitra, D.: Qualitative direction calculi with arbitrary granularity. In: Zhang, C., Guesgen, H.W., Yeap, W.-K. (eds.) PRICAI 2004: Trends in Artificial Intelligence, 8th Pacific RimInternational Conference on Artificial Intelligence, Auckland, New Zealand, Proceedings, vol. 3157 of Lecture Notes in Computer Science, pp. 65–74. Springer, Berlin Heidelberg New York (2004)

    Google Scholar 

  28. Renz, J., Nebel, B.: On the complexity of qualitative spatial reasoning: A maximal tractable fragment of the region connection calculus. Artif. Intell. 108(1,2), 69–123 (1999)

    Article  MATH  MathSciNet  Google Scholar 

  29. Röfer, T.: Route navigation using motion analysis. In: Freksa, C., Mark, D.M. (eds.) Spatial Information Theory: Foundations of Geographic Information Science. Conference on Spatial Information Theory (COSIT), pp. 21–36. Springer, Berlin Heidelberg New York (1999)

    Chapter  Google Scholar 

  30. Schlieder, C.: Reasoning about ordering. In: Spatial Information Theory: A Theoretical Basis for GIS (COSIT’95), vol. 988 of Lecture Notes in Computer Science, pp. 341–349. Springer, Berlin Heidelberg New York (1995)

    Google Scholar 

  31. van Beek, P.: Reasoning about qualitative temporal information. Artif. Intell. 58(1-3), 297–321 (1992)

    Article  MATH  Google Scholar 

  32. Wallgrün, J.O., Frommberger, L., Wolter, D., Dylla, F., Freksa, C.: A toolbox for qualitative spatial representation and reasoning. In: Spatial Cognition 2006, Bremen, Germany (2006)

Download references

Author information

Authors and Affiliations

  1. SFB/TR 8 Spatial Cognition, Universität Bremen, Bibliothekstr. 1, 28359, Bremen, Germany

    Frank Dylla & Jan Oliver Wallgrün

Authors
  1. Frank Dylla
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jan Oliver Wallgrün
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Frank Dylla.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Dylla, F., Wallgrün, J.O. Qualitative Spatial Reasoning with Conceptual Neighborhoods for Agent Control. J Intell Robot Syst 48, 55–78 (2007). https://doi.org/10.1007/s10846-006-9099-4

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-006-9099-4

Key words

Search

Navigation