From the end of 80's there has been a great interest in the study of qualitative models to represent and to reason with spatial aspects. The present work is centred in the development and application of a model to reason about the shape and about the movement in a qualitative way, which means in a way similar to the human reasoning. The interest of this study is originated in the necessity of solutions for the recognition of objects and the description and reasoning about the movement in situations with high uncertainty, as it is the case of robotic applications, where robots only have limited and vague sensorial information. In these situations the use of a qualitative reasoning, that allows us to handle ambiguities and errors, will be the most suitable. The movement of an object can be considered as a shape whose topologic relation with its environment (considered as another shape) changes in the time. On the other hand the shape of the objects is a spatial aspect in itself, and again for its study we have used topological concepts. The recognition of objects is important during the movement of a robot since for the accomplishment of certain tasks the robot must be able to recognize the objects with which it is finding during its trajectory, since these objects can be landmarks or reference points that provides to the robot spatial information of its environment. Therefore this work will be centred in the study of three space aspects: the shape of the objects, the topology and the movement. Several works exist about the shape of the objects [Jungert 94; Park and Gero 99, 00; Chase 96, 97; Shokoufandeh, Dickinson et al. 02], on topology [Cohn, Bennet ET al. 97; Renz & Nebel 98; Egenhofer & Franzosa 91; Clementini & Di Felice 95] and on movement [Zimmermann and Freksa 93; Musto, Stein et al. 00; Musto et al. 99; Rajagopalan and Kuipers 94; Forbus 83; Muller 98a, 98b]. However, most of these works are theoretical and they have not been applied to robotics. This PhD thesis presents a motion model as a ...


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    Title :

    Qualitative theories on shape representation and movement. Application to industrial manufacturing and robotics



    Publication date :

    2011-04-12


    Remarks:

    TDX (Tesis Doctorals en Xarxa)


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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