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UT Intelligent Robotics Research
UT Intelligent Robotics Research
Spatial reasoning and intelligent robotics based on the Spatial Semantic Hierarchy, has been a
focus for research in the
Qualitative Reasoning group.
Most of our work has concentrated on mobile robot exploration and
mapping of previously unknown environments. We have used a number of
different simulated robots, and are now working with several types of
physical robots.
We have recently been exploring new methods for
real-time active vision, primarily but not exclusively motivated
by the navigational needs of a mobile robot.
Work on heterogeneous control
(our approach to fuzzy control, supporting validation via qualitative
simulation), is also relevant to the robotics research.
Robotics Researchers
- B. J. Kuipers and T. Levitt. 1988.
Navigation and mapping in large scale space.
AI Magazine, vol. 9, no. 2, Summer 1988, pp. 25-43.
Reprinted in Advances in Spatial Reasoning, Volume 2, Su-shing Chen (Ed.),
Norwood NJ: Ablex Publishing, 1990.
- B. J. Kuipers. 1983.
The cognitive map: Could it have been any other way?
In H. L. Pick, Jr. and L. P. Acredolo (Eds.),
Spatial Orientation: Theory, Research, and Application.
New York: Plenum Press, 1983, pages 345-359.
- B. J. Kuipers. 1982. The `Map in the Head' metaphor.
Environment and Behavior 14: 202-220, 1982.
- B. J. Kuipers. 1979.
On representing common sense knowledge. In N. V. Findler
(Ed.), Associative Networks: The Representation and Use
of Knowledge by Computers. New York: Academic Press, 1979, pages 393--408.
- B. J. Kuipers. 1979.
Commonsense knowledge of space: learning from experience.
In Proceedings of the Sixth International Joint Conference on
Artificial Intelligence (IJCAI-79). Tokyo, Japan, August 1979.
Reprinted in Advances in Spatial Reasoning, Volume 2, Su-shing Chen (Ed.),
Norwood NJ: Ablex Publishing, 1990.
- B. J. Kuipers. 1978.
Modeling spatial knowledge.
Cognitive Science, 2: 129-153, 1978.
Reprinted in Advances in Spatial Reasoning, Volume 2, Su-shing
Chen (Ed.), Norwood NJ: Ablex Publishing, 1990.
- The version of the PS file currently available (7-16-96) is
missing the two figures. I'll fix it as soon as possible.
- There is a
Word version of the paper that includes the figures,
but is a much longer file, and fails to display reasonably in ghostview,
though it seems to print correctly.
- B. J. Kuipers. 1977.
Representing Knowledge of Large-Scale Space. Doctoral dissertation,
Mathematics Department, Massachusetts Institute of Technology,
Cambridge, Massachusetts, June 1977. Published as Technical Report
418, M.I.T. Artificial Intelligence Laboratory, 1977.
- David Pierce and Benjamin Kuipers. 1997.
Map learning with uninterpreted sensors and effectors.
Artificial Intelligence Journal, 1997.
[Abstract]
- David M. Pierce. 1995.
Map Learning with Uninterpreted Sensors and Effectors.
Doctoral dissertation, Department of Computer Sciences, The University of Texas
at Austin. (TR AI95-233, May 1995.)
- D. Pierce and B. Kuipers. 1994.
Learning to explore and build
maps. In Proceedings of the National Conference on Artificial
Intelligence (AAAI-94), AAAI/MIT Press, 1994.
- David M. Pierce. 1991.
Learning turn and travel actions with an
uninterpreted sensorimotor apparatus. In Proceedings of the IEEE
International Conference on Robotics and Automation, pp. 246-251.
Los Alamitos, CA: IEEE Computer Society Press.
- David M. Pierce and B. J. Kuipers. 1991.
Learning hill-climbing
functions as a strategy for generating behaviors in a mobile robot.
In J.-A. Meyer and S. W. Wilson (Eds.), From Animals to Animats:
Proceedings of the International Conference on Simulation
of Adaptive Behavior, pp. 327-336. Cambridge, MA: MIT
Press/Bradford Books, 1991.
- Benjamin Kuipers. 1985.
The Map-Learning Critter.
University of Texas at Austin, Artificial Intelligence Laboratory
AI TR 85-17, December 1985.
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