Moving a Chair through a Door: A Tutorial on Local Spatial Reasoning in Algorithmic Robotics

2018 2nd International Conference on Artificial Intelligence Applications and Technologies

计算机科学

Toussaint, Godfried^1

New York University Abu Dhabi, Saadiyat Island Campus, Abu Dhabi, United Arab Emirates^1

关键词: Computationally efficient;    Computer science students;    Convex objects;    Discrete mathematics;    Spatial reasoning;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/435/1/012043/pdf
DOI  :  10.1088/1757-899X/435/1/012043

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

Spatial reasoning problems in robotics may be categorised into two types: global and local. A typical problem of the global kind involves determining if a robot can navigate along a specified terrain from one specified (starting) point to another (target) point by means of a suitable path, subject to a variety of constraints. A quintessential example of local spatial reasoning is the determination of whether an object can pass through a specified opening. This paper presents a tutorial on the local spatial reasoning problem of deciding whether a given rigid convex object can pass through a specified convex aperture, and if possible, planning a sequence of motions to accomplish the task, in a computationally efficient manner. The exposition of this material is at the freshman and sophomore undergraduate levels, and is well suited to motivate computer science students in discrete mathematics courses.