Abstract
A new taxonomy is proposed that relates different navigational behaviors in a hierarchical and compositional way. Elementary navigation tactics are combined to tactical navigation in routes; land-marks in space are contrasted to routemarks in networks of passages. Survey knowledge comes in at the level of strategic navigation. The Bremen Autonomous Wheelchair is then presented as a vehicle for experimentation in robotics, both to model biologically plausible navigational behaviors and to develop efficient navigational mechanisms for a technical application. The implementation on the autonomous system is based on the use of basic behaviors and the identification of routemarks. The actual recognition of artificial routemarks is described and early results of the current work on the identification of natural 3-D marks are presented.
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Krieg-Brückner, B., Röfer, T., Carmesin, HO., Müller, R. (1998). A Taxonomy of Spatial Knowledge for Navigation and its Application to the Bremen Autonomous Wheelchair. In: Freksa, C., Habel, C., Wender, K.F. (eds) Spatial Cognition. Lecture Notes in Computer Science(), vol 1404. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-69342-4_18
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