Collaborative Communication of Qualitative Spatial Perceptions for Multi-Robot Systems

The goal of this work is to develop a collaborative communication system of spatial perceptions for vision-based multirobot systems using qualitative spatial reasoning, where the representation of the domain is built upon the perspective of the Elevated Oriented Point Algebra (EOPRA) and the reasoning itself is made by a combination between the Oriented Point Algebra (OPRA) and a quantitative triangulation. The motivation of using qualitative information is to obtain a level of abstraction closer to the human categorisation of space and, also, to have a more effective way of interaction between robots and humans. Results allowed us to conclude that the method proposed is an effective way to address the high-level communication between only-robots agents or between robots and humans by using some spatial prepositions.