A Logical Account of Causal and Topological Maps (2001)
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@MISC{Remolina01alogical,
author = {Emilio Remolina},
title = {A Logical Account of Causal and Topological Maps},
year = {2001}
}
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Abstract
The Spatial Semantic Hierarchy (SSH) is a set of distinct representations for large scale space, each with its own ontology and each abstracted from the levels below it. At the control level, the agent and its environment are modeled as continuous dynamical systems whose equilibrium points are abstracted to a discrete set of distinctive states. The control laws whose execution defines trajectories linking these states are abstracted to actions, giving a discrete causal graph representation for the state space. The causal graph of states and actions is in turn abstracted to a topological network of places and paths (i.e. the topological map). Local metrical models of places and paths can be built within the framework of the control, causal and topological levels while avoiding problems of global consistency. ...
