Emilio Remolina and Benjamin Kuipers. 2001.
A logical account of causal and topological maps.
In Proceedings of the Seventeenth International Joint
Conference on Artificial Intelligence (IJCAI-01),
San Francisco: Morgan Kaufmann Publishers, pages 5-11.
Abstract
We consider the problem of how an agent creates a discrete spatial
representation from its continuous interactions with the environment.
Such representation will be the minimal one that explains the
experiences of the agent in the environment. In this paper we take
the Spatial Semantic Hierarchy as the agent's target spatial
representation, and use a circumscriptive theory to specify the
minimal models associated with this representation. We provide a
logic program to calculate the models of the proposed theory. We also
illustrate how the different levels of the representation assume
different spatial properties about both the environment and the
actions performed by the agent. These spatial properties play the
role of "filters" the agent applies in order to distinguish the
different environment states it has visited.
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The slides contain some improvements in the axioms and their presentation
that will appear in later publications.
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BJK