An approach to geometric reasoning in robotics
- 1 January 1988
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Aerospace and Electronic Systems
- Vol. 24 (5) , 630-646
- https://doi.org/10.1109/7.9691
Abstract
Anticipating the use of knowledge-based expert systems for robot task planning, a geometric reasoning is envisioned for the representation and manipulation of geometric information in a manner uniform with other knowledge. The general requirements for such a reasoner are outlined and a proposed architecture is described, built on four concepts: a class structure of spatial sets, features as subsets of those spatial sets, geometric abstractions as partial representations of features, and constraints as a mechanism for reasoning. An example implementation is built in an object-oriented environment and uses an underlying solids modeler, transparent to the end user.Keywords
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