Abstract
In this paper a layered architecture is proposed for the representation of an environment that evolves in time. This proposal extends the Layered Knowledge Architecture in [4] and represents the environment by means of a taxonomy of layers. A particular hierarchical graph is defined whose nodes represent a portion of the environment and whose edges represent a path within the environment. Position and cost functions are defined for an efficient path planning.
The proposed architecture is meant to represent and maintain the evolution of the described environment. The concept is defined of “significant change”, i. e. a change which alters the cost functions more than a given rate. The idea is exploiting the topological structure of the graph and the consequence of a change on such structure. Necessary and sufficient conditions are stated that assure that a change is significant or not. If a change is significant, a new version of the environment description is produced.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
P. Dadam, V. Lum, H.D. Werner. “Integration of Time Versions into a Relational Database System”, Proc. of 10th International Conference on Very Large Databases (VLDB), Singapore, 1984. 323
Faverjon and P. Tournassoud, “The mixed approach for motion planning: learning global strategies from a local planner”, Proc. of Int. Joint Conf. on Artificial Intell., vol. 2, pp. 1131–1137, 1987. 320
B. J. Kuipers, R. Froom, W. Lee and D. Pierce, “The semantic hierarchy in robot learning”, in Robot Learning, J.H. Connel and S. Mahadevan Eds., Kluwer Academic Publishers, pp. 141–170, 1992. 320
D. Maio and S. Rizzi, “Layered Knowledge Architecture For Navigation-Oriented Environment Representation”, Technical Report CIOC-C.N.R. n. 108, 1996. 319, 320
A. Tansel, J. Clifford, V. Gadia, A. Segev, R.T. Snodgrass (eds). Temporal Databases: Theory, Design and Implementation. The Benjamin/Cummings Publishing Company, Redwood City, California, 1993. 320, 323
S. Timpf, G. S. Volta, D. Pollock and M. J. Egenhofer, “A conceptual model of wayfinding using multiple levels of abstraction”, in Theories and methods of spatiotemporal reasoning in geographic space, A.U. Frank, I. Campari and U. Formentini Eds., Lecture Notes in Computer Science, 639, Springer-Verlag,1992. 320
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2000 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
De Castro, C. (2000). A Temporal Layered Knowledge Architecture for an Evolving Structured Environment. In: Hlaváč, V., Jeffery, K.G., Wiedermann, J. (eds) SOFSEM 2000: Theory and Practice of Informatics. SOFSEM 2000. Lecture Notes in Computer Science, vol 1963. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-44411-4_20
Download citation
DOI: https://doi.org/10.1007/3-540-44411-4_20
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-41348-6
Online ISBN: 978-3-540-44411-4
eBook Packages: Springer Book Archive