Including qualitative spatial knowledge in the sense-plan-act loop
Masoumeh Iran Mansouri, Federico Pecora · KTH Publication Database DiVA (KTH Royal Institute of Technology) · 2013
In this paper we present ongoing work on integrating qualitative andmetric spatial reasoning into planning for robots. We propose a knowledge repre-sentation and reasoning technique, grounded on well-established constraint-basedspatial calculi, for combining qualitative and metric knowledge and obtainingplans expressed in actionable metric terms.