A complete classification of spatial relations using the Voronoi-based nine-intersection model

In this article we show that the Voronoi-based nine-intersection (V9I) model proposed by Chen et al. (2001, A Voronoi-based 9-intersection model for spatial relations. International Journal of Geographical Information Science, 15 (3), 201-220) is more expressive than what has been believed before. Given any two spatial entities A and B, the V9I relation between A and B is represented as a 3 × 3 Boolean matrix. For each pair of types of spatial entities that is, points, lines, and regions, we first show that most Boolean matrices do not represent a V9I relation by using topological constraints and the definition of Voronoi regions. Then, we provide illustrations for all the remaining matrices. This guarantees that our method is sound and complete. In particular, we show that there are 18 V9I relations between two areas with connected interior, while there are only nine four-intersection relations. Our investigations also show that, unlike many other spatial relation models, V9I relations are context or shape sensitive. That is, the existence of other entities or the shape of the entities may affect the validity of certain relations. © 2013 Taylor & Francis

A MODEL OF FUZZY TOPOLOGICAL RELATIONS FOR SIMPLE SPATIAL OBJECTS IN GIS

The goal of this paper is to present a new model of fuzzy topological relations for simple spatial objects in Geographic Information Sciences (GIS). The concept of computational fuzzy topological space is applied to simple fuzzy objects to efficiently and more accurately solve fuzzy topological relations, extending and improving upon previous research in this area. Firstly, we propose a new definition for simple fuzzy line segments and simple fuzzy regions based on computational fuzzy topology. And then, we also propose a new model to compute fuzzy topological relations between simple spatial objects, an analysis of the new model exposes:(1) the topological relations of two simple crisp objects; (2) the topological relations between one simple crisp object and one simple fuzzy object; (3) the topological relations between two simple fuzzy objects. In the end, we have discussed some examples to demonstrate the validity of the new model, through an experiment and comparisons of existing models, we showed that the proposed method can make finer distinctions, as it is more expressive than the existing fuzzy models

Interpretable Clustering using Unsupervised Binary Trees

We herein introduce a new method of interpretable clustering that uses unsupervised binary trees. It is a three-stage procedure, the first stage of which entails a series of recursive binary splits to reduce the heterogeneity of the data within the new subsamples. During the second stage (pruning), consideration is given to whether adjacent nodes can be aggregated. Finally, during the third stage (joining), similar clusters are joined together, even if they do not descend from the same node originally. Consistency results are obtained, and the procedure is used on simulated and real data sets.Comment: 25 pages, 6 figure

Abstracting Multidimensional Concepts for Multilevel Decision Making in Multirobot Systems

Multirobot control architectures often require robotic tasks to be well defined before allocation. In complex missions, it is often difficult to decompose an objective into a set of well defined tasks; human operators generate a simplified representation based on experience and estimation. The result is a set of robot roles, which are not best suited to accomplishing those objectives. This thesis presents an alternative approach to generating multirobot control algorithms using task abstraction. By carefully analysing data recorded from similar systems a multidimensional and multilevel representation of the mission can be abstracted, which can be subsequently converted into a robotic controller. This work, which focuses on the control of a team of robots to play the complex game of football, is divided into three sections: In the first section we investigate the use of spatial structures in team games. Experimental results show that cooperative teams beat groups of individuals when competing for space and that controlling space is important in the game of robot football. In the second section, we generate a multilevel representation of robot football based on spatial structures measured in recorded matches. By differentiating between spatial configurations appearing in desirable and undesirable situations, we can abstract a strategy composed of the more desirable structures. In the third section, five partial strategies are generated, based on the abstracted structures, and a suitable controller is devised. A set of experiments shows the success of the method in reproducing those key structures in a multirobot system. Finally, we compile our methods into a formal architecture for task abstraction and control. The thesis concludes that generating multirobot control algorithms using task abstraction is appropriate for problems which are complex, weakly-defined, multilevel, dynamic, competitive, unpredictable, and which display emergent properties

A survey of qualitative spatial representations

Representation and reasoning with qualitative spatial relations is an important problem in artificial intelligence and has wide applications in the fields of geographic information system, computer vision, autonomous robot navigation, natural language understanding, spatial databases and so on. The reasons for this interest in using qualitative spatial relations include cognitive comprehensibility, efficiency and computational facility. This paper summarizes progress in qualitative spatial representation by describing key calculi representing different types of spatial relationships. The paper concludes with a discussion of current research and glimpse of future work

Episodic Memory for Cognitive Robots in Dynamic, Unstructured Environments

Elements from cognitive psychology have been applied in a variety of ways to artificial intelligence. One of the lesser studied areas is in how episodic memory can assist learning in cognitive robots. In this dissertation, we investigate how episodic memories can assist a cognitive robot in learning which behaviours are suited to different contexts. We demonstrate the learning system in a domestic robot designed to assist human occupants of a house. People are generally good at anticipating the intentions of others. When around people that we are familiar with, we can predict what they are likely to do next, based on what we have observed them doing before. Our ability to record and recall different types of events that we know are relevant to those types of events is one reason our cognition is so powerful. For a robot to assist rather than hinder a person, artificial agents too require this functionality. This work makes three main contributions. Since episodic memory requires context, we first propose a novel approach to segmenting a metric map into a collection of rooms and corridors. Our approach is based on identifying critical points on a Generalised Voronoi Diagram and creating regions around these critical points. Our results show state of the art accuracy with 98% precision and 96% recall. Our second contribution is our approach to event recall in episodic memory. We take a novel approach in which events in memory are typed and a unique recall policy is learned for each type of event. These policies are learned incrementally, using only information presented to the agent and without any need to take that agent off line. Ripple Down Rules provide a suitable learning mechanism. Our results show that when trained appropriately we achieve a near perfect recall of episodes that match to an observation. Finally we propose a novel approach to how recall policies are trained. Commonly an RDR policy is trained using a human guide where the instructor has the option to discard information that is irrelevant to the situation. However, we show that by using Inductive Logic Programming it is possible to train a recall policy for a given type of event after only a few observations of that type of event

Application of Geographic Information Systems

The importance of Geographic Information Systems (GIS) can hardly be overemphasized in today’s academic and professional arena. More professionals and academics have been using GIS than ever – urban & regional planners, civil engineers, geographers, spatial economists, sociologists, environmental scientists, criminal justice professionals, political scientists, and alike. As such, it is extremely important to understand the theories and applications of GIS in our teaching, professional work, and research. “The Application of Geographic Information Systems” presents research findings that explain GIS’s applications in different subfields of social sciences. With several case studies conducted in different parts of the world, the book blends together the theories of GIS and their practical implementations in different conditions. It deals with GIS’s application in the broad spectrum of geospatial analysis and modeling, water resources analysis, land use analysis, infrastructure network analysis like transportation and water distribution network, and such. The book is expected to be a useful source of knowledge to the users of GIS who envision its applications in their teaching and research. This easy-to-understand book is surely not the end in itself but a little contribution to toward our understanding of the rich and wonderful subject of GIS

The zCOSMOS 20k Group Catalog

We present an optical group catalog between 0.1 < z < 1 based on 16,500 high-quality spectroscopic redshifts in the completed zCOSMOS-bright survey. The catalog published herein contains 1498 groups in total and 192 groups with more than five observed members. The catalog includes both group properties and the identification of the member galaxies. Based on mock catalogs, the completeness and purity of groups with three and more members should be both about 83% with respect to all groups that should have been detectable within the survey, and more than 75% of the groups should exhibit a one-to-one correspondence to the "real" groups. Particularly at high redshift, there are apparently more galaxies in groups in the COSMOS field than expected from mock catalogs. We detect clear evidence for the growth of cosmic structure over the last seven billion years in the sense that the fraction of galaxies that are found in groups (in volume-limited samples) increases significantly with cosmic time. In the second part of the paper, we develop a method for associating galaxies that only have photo-z to our spectroscopically identified groups. We show that this leads to improved definition of group centers, improved identification of the most massive galaxies in the groups, and improved identification of central and satellite galaxies, where we define the former to be galaxies at the minimum of the gravitational potential wells. Subsamples of centrals and satellites in the groups can be defined with purities up to 80%, while a straight binary classification of all group and non-group galaxies into centrals and satellites achieves purities of 85% and 75%, respectively, for the spectroscopic sample.Comment: 26 pages, 21 figures, published in ApJ (along with machine-readable tables