Qualitative Spatial Reasoning for Navigating Agents - Behavior Formalization with Qualitative Representations

In this chapter we show how qualitative representations can be applied for the formalization of agent behavior. First, we give an introduction to several aspects of space relevant for agent motion and agent control, especially orientation, location, and distance. Based on these preliminaries we explain which characteristics a qualitative spatial representation and its operations, called qualitative calculus, should have so that the knowledge can be manipulated in an adequate manner. Afterwards, we present the two main categories of reasoning with qualitative calculi: constraint-based reasoning and neighborhood-based reasoning, actionaugmented neighborhood respectively. Exemplary, we sketch how this structure can be utilized for representing agent behavior. Additionally, we apply the approaches to agent control in the context of right-of-way rules in sea navigation.

[1]  Gérard Ligozat,et al.  Weak Composition for Qualitative Spatial and Temporal Reasoning , 2005, CP.

[2]  Volker Haarslev,et al.  Combining cardinal direction relations and relative orientation relations in Qualitative Spatial Reasoning , 2003, ArXiv.

[3]  Bernhard Nebel,et al.  The Finest of its Class: The Natural Point-Based Ternary Calculus for Qualitative Spatial Reasoning , 2004, Spatial Cognition.

[4]  Gérard Ligozat,et al.  What Is a Qualitative Calculus? A General Framework , 2004, PRICAI.

[5]  Peter van Beek,et al.  Reasoning About Qualitative Temporal Information , 1990, Artif. Intell..

[6]  S. Levinson.  Space in language and cognition: Explorations in cognitive diversity , 2003 .

[7]  Hans W. Guesgen,et al.  Spatial and Temporal Reasoning , 2003, AI Commun..

[8]  Anthony G. Cohn,et al.  A Spatial Logic based on Regions and Connection , 1992, KR.

[9]  James F. Allen.  Maintaining knowledge about temporal intervals , 1983, CACM.

[10]  Reinhard Moratz,et al.  Qualitative Spatial Reasoning about Line Segments , 2000, ECAI.

[11]  Jochen Renz,et al.  Qualitative Spatial Reasoning with Topological Information , 2002, Lecture Notes in Computer Science.

[12]  Bernhard Nebel,et al.  Qualitative Spatial Reasoning about Relative Position: The Tradeoff between Strong Formal Properties and Successful Reasoning about Route Graphs , 2003, Spatial Cognition.

[13]  Gérard Ligozat,et al.  Reasoning about Cardinal Directions , 1998, J. Vis. Lang. Comput..

[14]  Debasis Mitra,et al.  Qualitative Direction Calculi with Arbitrary Granularity , 2004, PRICAI.

[15]  Bernhard Nebel,et al.  Double-Crossing: Decidability and Computational Complexity of a Qualitative Calculus for Navigation , 2001, COSIT.

[16]  Daniel R. Montello,et al.  Spatial Information Theory A Theoretical Basis for GIS , 1995, Lecture Notes in Computer Science.

[17]  Christoph Schlieder,et al.  Reasoning About Ordering , 1995, COSIT.

[18]  Universiẗat Bremen Bibliothekstr,et al.  A Relative Orientation Algebra with Adjustable Granularity , 2005 .

[19]  Kenneth D. Forbus.  Qualitative Process Theory , 1984, Artif. Intell..

[20]  Eliseo Clementini,et al.  Qualitative Representation of Positional Information , 1997, Artif. Intell..

[21]  Brandon Bennett,et al.  Logical representations for automated reasoning about spatial relationships , 1997 .

[22]  Nico Van de Weghe.  Representing and Reasoning about Moving Objects: A Qualitative Approach , 2004 .

[23]  Michael Worboys,et al.  Modelling changes and events in dynamic spatial systems with reference to socio-economic units , 1998 .

[24]  Christian Freksa.  Spatial Cognition: An AI Perspective , 2004, ECAI.

[25]  Lars Kulik.  Qualitative Spatial Change , 2002, Künstliche Intell..

[26]  Jean-François Condotta,et al.  A Generic Toolkit for n-ary Qualitative Temporal and Spatial Calculi , 2006, Thirteenth International Symposium on Temporal Representation and Reasoning (TIME'06).

[27]  Philippe Muller,et al.  A Qualitative Theory of Motion Based on Spatio-Temporal Primitives , 1998, KR.

[28]  Christian Freksa,et al.  DIMENSIONS OF QUALITATIVE SPATIAL REASONING , 1999 .

[29]  R. H.,et al.  The Principles of Mathematics , 1903, Nature.

[30]  Reinhard Moratz,et al.  Empirical Complexity Issues of Practical Qualitative Spatial Reasoning about Relative Position , 2004 .

[31]  Alexander Ferrein,et al.  Using Golog for Deliberation and Team Coordination in Robotic Soccer , 2005, Künstliche Intell..

[32]  M. Teresa Escrig,et al.  A Framework Based on CLP Extended with CHRs for Reasoning with Qualitative Orientation and Positional Information , 1998, J. Vis. Lang. Comput..

[33]  Reinhard Moratz,et al.  Exploiting Qualitative Spatial Neighborhoods in the Situation Calculus , 2004, Spatial Cognition.

[34]  Alexander Reinefeld,et al.  Effective Solution of Qualitative Interval Constraint Problems , 1992, Artif. Intell..

[35]  Travé-Massuyès.  Conceptual Neighborhood and its role in temporal and spatial reasoning , 1991 .

[36]  Philippe Balbiani,et al.  A Model for Reasoning about Topologic Relations between cyclic intervals , 2000, KR.

[37]  Kai Zimmermann,et al.  Enhancing Qualitative Spatial Reasoning - Combining Orientation and Distance , 1993, COSIT.

[38]  Christian Freksa,et al.  On the utilization of spatial structures for cognitively plausible and efficient reasoning , 1992, [Proceedings] 1992 IEEE International Conference on Systems, Man, and Cybernetics.

[39]  Javier Pinto,et al.  Integrating Discrete and Continuous Change in a Logical Framework , 1998, Comput. Intell..

[40]  Henry A. Kautz,et al.  Constraint propagation algorithms for temporal reasoning: a revised report , 1989 .

[41]  Andrew U. Frank,et al.  Theories and Methods of Spatio-Temporal Reasoning in Geographic Space , 1992, Lecture Notes in Computer Science.

[42]  Philippe Balbiani Jean-Fran,et al.  A Model for Reasoning about Bidimensional Temporal Relations , 1998 .

[43]  Anthony G. Cohn,et al.  Qualitative Spatial Representation and Reasoning: An Overview , 2001, Fundam. Informaticae.

[44]  Jiming Liu,et al.  A Method of Spatial Reasoning Based on Qualitative Trigonometry , 1998, Artif. Intell..

[45]  Philippe Muller,et al.  Space-Time as a Primitive for Space and Motion , 1998 .

[46]  Benjamin Kuipers,et al.  Qualitative reasoning: Modeling and simulation with incomplete knowledge , 1994, Autom..

[47]  Björn Gottfried,et al.  Reasoning about intervals in two dimensions , 2004, 2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583).

[48]  Andrew U. Frank,et al.  Qualitative Spatial Reasoning with Cardinal Directions , 1991, ÖGAI.

[49]  Christian Freksa,et al.  Using Orientation Information for Qualitative Spatial Reasoning , 1992, Spatio-Temporal Reasoning.

[50]  Gérard Ligozat.  Categorical Methods in Qualitative Reasoning: The Case for Weak Representations , 2005, COSIT.

[51]  Reinhard Moratz,et al.  Representing Relative Direction as a Binary Relation of Oriented Points , 2006, ECAI.

[52]  伊藤 辰雄.  International regulations for preventing collisions at sea , 1936 .

[53]  Antony Galton,et al.  A unifying semantics for time and events , 2004, Artif. Intell..

[54]  Andrew U. Frank,et al.  Qualitative spatial reasoning about distances and directions in geographic space , 1992, J. Vis. Lang. Comput..

[55]  Luis Fariñas del Cerro,et al.  A New Tractable Subclass of the Rectangle Algebra , 1999, IJCAI.

[56]  Christian Freksa,et al.  Qualitative spatial reasoning using orientation, distance, and path knowledge , 2004, Applied Intelligence.

[58]  Gérard Ligozat,et al.  Qualitative Triangulation for Spatial Reasoning , 1993, COSIT.

[59]  Christian Freksa,et al.  Temporal Reasoning Based on Semi-Intervals , 1992, Artif. Intell..