A Qualitative Representation of Structural Spatial Knowledge for Robot Navigation with Reinforcement Learning
Lutz Frommberger · 2006
In robot navigation tasks, the representation of knowledge of the surrounding world plays an important role, especially in reinforcement learning approaches. This work presents a qualitative representation of space that empowers an agent to learn a goal-directed navigation strategy based on structural knowledge of the world that leads to a generally sensible navigation behavior that can be transferred to completely unknown environments. 1.