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Spatial Reasoning Based on Rough Mereology: A Notion of a Robot Formation and Path Planning Problem for Formations of Mobile Autonomous Robots

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Transactions on Rough Sets XII

Part of the book series: Lecture Notes in Computer Science ((TRS,volume 6190))

Abstract

We address in this work problems of path planning for autonomous robots; we extend this topic by introducing a new definition of a robot formation and we give a parallel treatment of planning and navigation problems for robot formations. In our investigations into problems of multi-robot planning and navigation, we apply rough mereological theory of spatial reasoning to problems of formations of many robots in a rigorous way and we address the planning and navigation problems for formations of many robots.

In approaching those problems, we employ rough mereology – a theory for approximate reasoning based on the notion of a part to a degree. Using the primitive predicate of a rough inclusion, we construct counterparts of classical predicates of elementary geometry as introduced by Alfred Tarski, which serve us in building a description of robot environment.

The software system Player/Stage is employed as the environment in which predicates of rough mereological geometry are implemented as SQL functions and as means of simulation and visualization of robot trajectories to chosen goals.

This work does extend the scope of the Special Session on Rough Mereology at RSKT 2008, Chengdu, Sichuan, China, May 2008.

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Authors and Affiliations

  1. Polish–Japanese Institute of Information Technology, Koszykowa 86, 02008, Warsaw, Poland

    Paweı O’smiaıowski & Lech Polkowski

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  1. Paweı O’smiaıowski
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  2. Lech Polkowski
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Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, University of Manitoba, Winnipeg, R3T 5V6, Manitoba, Canada

    James F. Peters

  2. Institute of Mathematics, Warsaw University, Banacha 2, 02-097, Warsaw, Poland

    Andrzej Skowron

  3. Insitute of Computing Science, Laboratory of Intelligent Decision Support Systems, Poznań University of Technology, Piotrowo 2, 60-965, Poznań, Poland

    Roman Słowiński

  4. Department of Mathematics and Computing Science, Saint Mary’s University, B3H 3C3, Halifax, NS, Canada

    Pawan Lingras

  5. School of Electronics and Information Engineering, Tongji University, 201804, Shanghai, P.R. China

    Duoqian Miao

  6. Faculty of Medicine, Department of Medical Informatics, 89-1 Enya-cho, Shimane University, 693-8501, Izumo, Japan

    Shusaku Tsumoto

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O’smiaıowski, P., Polkowski, L. (2010). Spatial Reasoning Based on Rough Mereology: A Notion of a Robot Formation and Path Planning Problem for Formations of Mobile Autonomous Robots. In: Peters, J.F., Skowron, A., Słowiński, R., Lingras, P., Miao, D., Tsumoto, S. (eds) Transactions on Rough Sets XII. Lecture Notes in Computer Science, vol 6190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14467-7_8

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  • DOI: https://doi.org/10.1007/978-3-642-14467-7_8

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-14466-0

  • Online ISBN: 978-3-642-14467-7

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