Multiple Abstraction Hierarchies for Mobile Robot Operation in Large Environments (Studies in Computational Intelligence)

Description

This book focuses on the efficient performance of mobile robots through the use of multi-hierarchical symbolic representations of the environment.
A mobile robot intended to perform deliberative actions must possess some symbolic representation of its workspace, but such representations of real environments usually become so large that should be conveniently arranged in order to facilitate and, in some cases, make possible their use.
Apart from the drawback of dealing with large amounts of information, other problems stand out when using symbolic representations. One is keeping the model properly optimized with respect to the robot tasks while maintaining it coherent with reality. Another one is the creation (or modification) of symbols from sensorial data.

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