The Heuristic of Directional Qualitative Semantic: A New Heuristic for Making Decisions about Spinning with Qualitative Reasoning

Abstract

Multifunctional Robot On Topological Notions (MROTN) is a research program that has as one of its goals to develop qualitative algorithms that make navigation decisions. This article presents new research from MROTN that extends previous results by allowing an agent to carry out qualitative reasoning about direction and spinning. The main result is a new heuristic, the Heuristic of Directional Qualitative Semantic (HDQS), which allows for selecting a spinning action to establish a directional relation between an agent and an object. The HDQS is based on the key idea of encoding directional information into topological relations. The new heuristic is important to the MROTN because it permits the continued development of qualitative navigation methods based on topological notions. We show this by presenting a new version of the Topological Qualitative Architecture of Navigation that uses the HDQS to address situations that require spinning.