Abducing Qualitative Spatio-Temporal Histories from Partial Observations

We present a logic-based framework in which a qualitative spatio-temporal world model is constructed from local surveys i.e. partial spatio-temporal knowledge. Complete space-time histories are obtained through an abductive process driven by continuity constraints and a library of possibly domain specific behaviour patterns. The abduction technique is circumscription, which implements the heuristic that changes should only occur when forced to. We then discuss various additional heuristics to drive the selection of preferred explanations.

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

[2]  Murray Shanahan.  Solving the frame problem - a mathematical investigation of the common sense law of inertia , 1997 .

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

[4]  Jaakko Hintikka.  Model minimization —An alternative to circumscription , 2004, Journal of Automated Reasoning.

[5]  E. Sandewall.  Features and fluents (vol. 1): the representation of knowledge about dynamical systems , 1995 .

[6]  Sven Lorenz,et al.  A tableau prover for domain minimization , 1994, Journal of Automated Reasoning.

[7]  Erik Sandewall.  Features and fluents : representation of knowledge about dynamical systems , 1994 .

[8]  Anthony G. Cohn,et al.  Qualitative Spatio-Temporal Continuity , 2001, COSIT.

[9]  Tomás Lozano-Pérez,et al.  Spatial Planning: A Configuration Space Approach , 1983, IEEE Transactions on Computers.

[10]  A. Galton.  Qualitative Spatial Change , 2001 .

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

[12]  Max J. Egenhofer,et al.  Reasoning about Gradual Changes of Topological Relationships , 1992, Spatio-Temporal Reasoning.

[13]  M. T. Escrig.  Qualitative Spatial Reasoning: Theory and Practice: Application to Robot Navigation , 1998 .

[14]  Benjamin Kuipers,et al.  A Logical Account of Causal and Topological Maps , 2001, IJCAI.

[15]  Anthony G. Cohn,et al.  Continuous Transitions in Mereotopology , 2001 .

[16]  Patrick J. Hayes,et al.  Naive physics I: ontology for liquids , 1989 .

[17]  Tony J. Prescott,et al.  Explorations in Reinforcement and Model-based Learning , 1994 .

[18]  Benjamin Kuipers,et al.  The Spatial Semantic Hierarchy , 2000, Artif. Intell..

[19]  Mark Witkowski,et al.  High-Level Robot Control through Logic , 2000, ATAL.

[20]  M. Shanahan,et al.  Deriving Fluents from Sensor Data for Mobile Robots , 2001 .

[21]  Murray Shanahan,et al.  A Logical Account of the Common Sense Informatic Situation for a Mobile Robot , 1998, Electron. Trans. Artif. Intell..

[22]  Erik Sandewall,et al.  Filter Preferential Entailment for the Logic of Action in Almost Continuous Worlds , 1989, IJCAI.

[23]  Anthony G. Cohn,et al.  Constructing qualitative event models automatically from video input , 2000, Image Vis. Comput..

[24]  A. Cohn.  A Mereological Approach to Representing Spatial Vagueness , 1994 .

[25]  Christoph Schlieder,et al.  Representing Visible Locations for Qualitative Navigation , 1993 .

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

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

[28]  John McCarthy,et al.  Circumscription - A Form of Non-Monotonic Reasoning , 1980, Artif. Intell..

[29]  Kurt Konolige.  Belief and incompleteness , 1984 .

[30]  James F. Allen.  Towards a General Theory of Action and Time , 1984, Artif. Intell..

[31]  Alessandro Saffiotti,et al.  Perceptual Anchoring of Symbols for Action , 2001, IJCAI.

[32]  Anthony G. Cohn,et al.  A Foundation for Region-based Qualitative Geometry , 2000, ECAI.

[33]  Tod S. Levitt,et al.  Qualitative Navigation for Mobile Robots , 1990, Artif. Intell..

[34]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[35]  Anthony G. Cohn,et al.  Describing Rigid Body Motions in a Qualitative Theory of Spatial Regions , 2000, AAAI/IAAI.