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Contents
Contents
List of Figures
Introduction
Limitations of Robotic Spatial Reasoning
Spatial Reasoning in Qualitative Physics
Advantages of Spatial Reasoning to Qualitative Physics
Advantages of Qualitative Reasoning to Robotics
Qualitative Spatial Reasoning Scenarios
Organisation of the Thesis
Spatial Representation and Reasoning in Robotics
Survey of Robot Reasoning in AI
Space and Shape Representation for Robots
Robot Motion Representation
Space Filling Representations
Shape Boundary Representation
Constructive Solid Geometry Representation
Object Relative Position Representation
Representation for Robot Vision
Other Robot Representations
Shape Representation in Other Fields
Wireframes
Boundary Representation
Constructive Solid Geometry
Other Methods
Qualitative Reasoning in Spatial Domains
The Origins of Qualitative Reasoning
Early Qualitative Reasoning Systems
Naive Physics
Techniques in Qualitative Reasoning
Classification of Qualitative Reasoning Tasks
Elements of Qualitative Reasoning
Spatial Qualitative Reasoning
The Bouncing Ball World
The Mechanism World
Other Spatial Reasoning Systems
Two Methods for Qualitative Representation of Shape and Space
Representation Issues in Qualitative Robot Reasoning
Representation of Detail
Geometric Reasoning Using Local Contexts
Representation of Multiple Features Using Functional Groupings
Qualitative Representation of Size
Summary of Qualitative Representation Issues
2D Qualitative Geometry from Solid Modelling
A Two Dimensional Derivative of Constructive Solid Geometry
A Two Dimensional Derivative of Boundary Representation
Qualitative Two Dimensional Shape Description
Describing 2D Shape with Axially Specified Subparts and Features
Describing 2D Shape With Extended Polygon Boundaries
Extensions to the Two Dimensional Qualitative Representations
Including Order of Magnitude Information in the Distance Ordering
Ordering of Angle Sizes
Explicit Links to Three Dimensional Shape
Implementations of Two Qualitative Spatial Reasoning Systems
A Program for Reasoning About Sliding
Representing Contact State
Contact State Transitions
Envisionment of Motion through Contact States
The ASSF Implementation
Summary of Sliding Issues
Reasoning About Path-Planning with EPB/PDO
The Path-Planning Problem
EPB/PDO Implementation
5.3
Stages in Path Planning
Gap Finding
Checking for Fit
Specifying Motion
Directional Reasoning
Summary of Path-Planning Issues
Future Enhancements
Integration of two approaches
Searching for Complex Paths
Unfastening Problems
Conclusions
Evaluating Spatial Qualitative Reasoning
Using PDO/EPB in Domains from Other Projects
General Evaluation of a Qualitative Representation
Evaluating Qualitative Robot Reasoning
Reasoning with Incomplete Information
Providing Graceful Degradation
A Human Interface for Robot Programming
Robot Reasoning with PDO/EPB
Summary
Future Research Directions
EPB/PDO Representation Example
Robot Fastening and Disassembly Projects
Bibliography
Alan Blackwell
2000-11-17