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Civil-Comp Proceedings
ISSN 1759-3433
CCP: 14
Edited by: B.H.V. Topping and A.I. Khan
Paper XIV.4

A Spatial Information System for Indoor Autonomous Mobile Robots

X. Tang and K. Zreik

Laboratoire Parisien d'Informatigue et des Sciences de la Conception, Paris, France

Full Bibliographic Reference for this paper
X. Tang, K. Zreik, "A Spatial Information System for Indoor Autonomous Mobile Robots", in B.H.V. Topping, A.I. Khan, (Editors), "Information Technology for Civil & Structural Engineers", Civil-Comp Press, Edinburgh, UK, pp 285-290, 1993. doi:10.4203/ccp.14.14.4
Controlling an Indoor Autonomous Mobile Robot (IAMR) requires an information system that describes its spatial environment. In order to model geometric and topological information, we propose an object-oriented representation model, linked to a structural model composed of hypergraphs that describe the spatial structure of each composite object.

To avoid inconsistencies when updating the model we use a constraint-satisfaction control mechanism. The integration of the ATMS (Assumption-Based Truth Maintenance System) reasoning mechanism allows us to identify the causes of violated or unsatisfied constraints.

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