{"id":52782,"date":"2018-03-09T22:40:26","date_gmt":"2018-03-09T22:40:26","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/a-multi-hierarchical-symbolic-representation-of-the-environment-for-improving-mobile-robot-operation\/"},"modified":"2018-03-09T22:40:26","modified_gmt":"2018-03-09T22:40:26","slug":"a-multi-hierarchical-symbolic-representation-of-the-environment-for-improving-mobile-robot-operation","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/a-multi-hierarchical-symbolic-representation-of-the-environment-for-improving-mobile-robot-operation\/","title":{"rendered":"A multi hierarchical symbolic representation of the environment for improving mobile robot operation"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Cipriano Galindo Andrades <\/strong><\/h2>\n<p>El trabajo desarrollado en esta tesis se centra en el estudio y aplicaci\u00f3n de estructuras multijer\u00e1rquicas, que representan el entorno de un robot m\u00f3vil, con el objetivo de mejorar su capacidad de realizar tareas complejas en escenarios humanos. Un robot m\u00f3vil debe poseer una representaci\u00f3n simb\u00f3lica de su entorno para poder llevar a cabo operaciones deliberativas, por ejemplo planificar tareas. sin embargo a la hora de representar simb\u00f3licamente entornos reales, dado su complejidad, es imprescindible contar con mecanismos capaces de organizar y facilitar el acceso a la ingente cantidad de informaci\u00f3n que de ellos se deriva. A parte del inconveniente de tratar con grandes cantidades de informaci\u00f3n, existen otros problemas subyacentes de la representaci\u00f3n simb\u00f3lica de entornos reales, los cuales a\u00fan no han sido resueltos por completo en la literatura  cient\u00edfica. Uno de ellos consiste en el mantenimiento de la representaci\u00f3n simb\u00f3lica optimizada con respecto a las tareas que el robot debe realizar y coherente con el entorno en el que se desenvuelve. Otro problema, relacionado con el anterior es la creaci\u00f3n\/modificaci\u00f3n de la informaci\u00f3n simb\u00f3lica a partir de informaci\u00f3n meramente sensorial (este problema es conocido como symbol-grounding). Esta tesis estudia estos problemas y aporta soluciones mediante estructuras multijer\u00e1rquicas. Estas estructuras simb\u00f3licas, basadas en el concepto de abstracci\u00f3n, imitan la forma en la que los humanos organizamos la informaci\u00f3n espacial y permite a un robot m\u00f3vil mejorar sus habilidades en entornos complejos. Las principales contribuciones de este trabajo son:     * se ha formalizado matem\u00e1ticamente un modelo simb\u00f3lico basado en m\u00faltiples abstracciones (multijerarqu\u00edas) mediante teor\u00eda de categor\u00edas.     * se ha desarrollado un planificador de tareas eficiente que es capaz de aprovechar la organizaci\u00f3n jer\u00e1rquica del modelo simb\u00f3lico del entonor. Nuestro m\u00e9todo ha sido validado matem\u00e1ticamen<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>A multi hierarchical symbolic representation of the environment for improving mobile robot operation<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 A multi hierarchical symbolic representation of the environment for improving mobile robot operation <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Cipriano Galindo Andrades <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 M\u00e1laga<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 29\/05\/2006<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li> Gonz\u00e1lez Jim\u00e9nez Antonio  Javier<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: \u00e1ngel Salichs Miguel <\/li>\n<li> Tard\u00f3s solano Juan  domingo (vocal)<\/li>\n<li>alessandro Saffiotti (vocal)<\/li>\n<li>Fernando Torres medina (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Cipriano Galindo Andrades El trabajo desarrollado en esta tesis se centra en el estudio y aplicaci\u00f3n de [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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