Representing Relative Direction as a Binary Relation of Oriented Points
Reinhard Moratz · European Conference on Artificial Intelligence · 2006
A central issue in robotics is the representation of relative orientation. Currently, the standard solution utilizes metrical representations. The main reason for this might be that representing rela-tively fine distinctions is useful in many robotics tasks. If qualitative spatial constraint calculi are to be applied to cognitve robotics, they therefore have to afford relatively fine distinctions. The challenge for us then is to find a calculus which allows these fine distinctions, and yet is still simple enough to provide a provably minimal composition table. In this paper we introduce a new calculus about oriented points which has a scalable granularity. In this calculus, named $\mathcal{OPRA}$, simple rules can generate the minimal composition table. Furthermore, the algebraic closure for a set of $\mathcal{OPRA}$ statements is sufficient to solve knowledge integration tasks in robotics.