Robot Navigation in Unseen Spaces using an Abstract Map

Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and navigational gestures communicate a wealth of spatial information to the navigators of built environments; a wealth of information that robots typically ignore. We present a robot navigation system that uses the same symbolic spatial information employed by humans to purposefully navigate in unseen built environments with a level of performance comparable to humans. The navigation system uses a novel data structure called the abstract map to imagine malleable spatial models for unseen spaces from spatial symbols. Sensorimotor perceptions from a robot are then employed to provide purposeful navigation to symbolic goal locations in the unseen environment. We show how a dynamic system can be used to create malleable spatial models for the abstract map, and provide an open source implementation to encourage future work in the area of symbolic navigation. Symbolic navigation performance of humans and a robot is evaluated in a real-world built environment. The paper concludes with a qualitative analysis of human navigation strategies, providing further insights into how the symbolic navigation capabilities of robots in unseen built environments can be improved in the future.Comment: 15 pages, published in IEEE Transactions on Cognitive and Developmental Systems (http://doi.org/10.1109/TCDS.2020.2993855), see https://btalb.github.io/abstract_map/ for access to softwar

Understanding the role of contrasting urban contexts in healthy aging: an international cohort study using wearable sensor devices (the CURHA study protocol).

BACKGROUND: Given the challenges of aging populations, calls have been issued for more sustainable urban re-development and implementation of local solutions to address global environmental and healthy aging issues. However, few studies have considered older adults' daily mobility to better understand how local built and social environments may contribute to healthy aging. Meanwhile, wearable sensors and interactive map-based applications offer novel means for gathering information on people's mobility, levels of physical activity, or social network structure. Combining such data with classical questionnaires on well-being, physical activity, perceived environments and qualitative assessment of experience of places opens new opportunities to assess the complex interplay between individuals and environments. In line with current gaps and novel analytical capabilities, this research proposes an international research agenda to collect and analyse detailed data on daily mobility, social networks and health outcomes among older adults using interactive web-based questionnaires and wearable sensors. METHODS/DESIGN: Our study resorts to a battery of innovative data collection methods including use of a novel multisensor device for collection of location and physical activity, interactive map-based questionnaires on regular destinations and social networks, and qualitative assessment of experience of places. This rich data will allow advanced quantitative and qualitative analyses in the aim to disentangle the complex people-environment interactions linking urban local contexts to healthy aging, with a focus on active living, social networks and participation, and well-being. DISCUSSION: This project will generate evidence about what characteristics of urban environments relate to active mobility, social participation, and well-being, three important dimensions of healthy aging. It also sets the basis for an international research agenda on built environment and healthy aging based on a shared and comprehensive data collection protocol

Human experience in the natural and built environment : implications for research policy and practice

22nd IAPS conference. Edited book of abstracts. 427 pp. University of Strathclyde, Sheffield and West of Scotland Publication. ISBN: 978-0-94-764988-3

Neighbourhood demolition, relocation and health: a qualitative longitudinal study of housing-led urban regeneration in Glasgow, UK

We conducted a qualitative longitudinal study to explore how adult residents of disadvantaged urban neighbourhoods (Glasgow, UK) experienced neighbourhood demolition and relocation. Data from 23 households was collected in 2011 and 2012. Some participants described moves to new or improved homes in different neighbourhoods as beneficial to their and their families’ wellbeing. Others suggested that longstanding illnesses and problems with the new home and/or neighbourhood led to more negative experiences. Individual-level contextual differences, home and neighbourhood-level factors and variations in intervention implementation influence the experiences of residents involved in relocation programmes

Creating knowledge maps in Virtual Learning Environments

The intention of this paper is to show a reflexive study about knowledge representation through maps in virtual learning environments (VLE). The aim of this research is to investigate how maps can be used to build information networks, contribute to the collective building of knowledge, and facilitate research and pedagogical mediation in VLEs. For this purpose, the specialization post-graduation online course “Software Use in Qualitative Research” was analyzed. During this analysis, I discuss meaningful learning through maps built using the mapping software Nestor Web Cartographer, CMap tools and Compendium. I then present some important aspects about how maps can contribute to online content design, tutoring diagnostic and assessment applications

The computer revolution in science: steps towards the realization of computer-supported discovery environments

The tools that scientists use in their search processes together form so-called discovery environments. The promise of artificial intelligence and other branches of computer science is to radically transform conventional discovery environments by equipping scientists with a range of powerful computer tools including large-scale, shared knowledge bases and discovery programs. We will describe the future computer-supported discovery environments that may result, and illustrate by means of a realistic scenario how scientists come to new discoveries in these environments. In order to make the step from the current generation of discovery tools to computer-supported discovery environments like the one presented in the scenario, developers should realize that such environments are large-scale sociotechnical systems. They should not just focus on isolated computer programs, but also pay attention to the question how these programs will be used and maintained by scientists in research practices. In order to help developers of discovery programs in achieving the integration of their tools in discovery environments, we will formulate a set of guidelines that developers could follow

BOLLOCKS!! Designing pervasive games that play with the social rules of built environments

We propose that pervasive games designed with mechanics that are specifically in opposition with, or disruptive of, social rules of the environment in which they are played, have unique potential to provide interesting, provocative experiences for players. We explore this concept through the design and evaluation of an experimental game prototype, Shhh!, inspired by the juvenile game Bollocks, and implemented on Android mobile devices, which challenges players to make loud noises in libraries. Six participants played the game before engaging in semi-structured interviews, explored through inductive thematic analysis. Results suggest that the game provoked in players a heightened awareness of social rules, as well as a complex social dilemma of whether or not to act. We conclude by presenting a model for designing games that play with the social, as well as physical, rules of the environments in which they are set

Topological Schemas of Memory Spaces

Hippocampal cognitive map---a neuronal representation of the spatial environment---is broadly discussed in the computational neuroscience literature for decades. More recent studies point out that hippocampus plays a major role in producing yet another cognitive framework that incorporates not only spatial, but also nonspatial memories---the memory space. However, unlike cognitive maps, memory spaces have been barely studied from a theoretical perspective. Here we propose an approach for modeling hippocampal memory spaces as an epiphenomenon of neuronal spiking activity. First, we suggest that the memory space may be viewed as a finite topological space---a hypothesis that allows treating both spatial and nonspatial aspects of hippocampal function on equal footing. We then model the topological properties of the memory space to demonstrate that this concept naturally incorporates the notion of a cognitive map. Lastly, we suggest a formal description of the memory consolidation process and point out a connection between the proposed model of the memory spaces to the so-called Morris' schemas, which emerge as the most compact representation of the memory structure.Comment: 24 pages, 8 Figures, 1 Suppl. Figur