A Logical Account of Causal and Topological Maps

نویسندگان

  • Emilio Remolina
  • Benjamin Kuipers
چکیده

ii Chapter 1 Dissertation Overview 1 Chapter 2 SSH Overview 6 2.1 The Spatial Semantic Hierarchy . . . . . . . . . . . . . . . . . . . . . . . 6 2.2 Creating Schemas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.3 The SSH topological level: regions . . . . . . . . . . . . . . . . . . . . . . 9 2.4 Physical Implementation of the SSH . . . . . . . . . . . . . . . . . . . . . 10 Chapter 3 Control Level 12 3.1 SSH control assumptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 3.1.1 The SSH control closure property . . . . . . . . . . . . . . . . . . 13 3.1.2 Well separated dstate . . . . . . . . . . . . . . . . . . . . . . . . . 13 3.1.3 From control laws to actions . . . . . . . . . . . . . . . . . . . . . 14 3.2 Voronoi robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Chapter 4 Causal Level 16 4.1 Causal level Ontology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4.1.1 Views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4.1.2 Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4.1.3 Distinctive States . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.1.4 Schemas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.1.5 Schema notation . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4.1.6 Routines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 4.2 SSH Causal theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.2.1 The E formulae. . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.2.2 The SSH view graph . . . . . . . . . . . . . . . . . . . . . . . . . 24

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تاریخ انتشار 2001