Incremental Construction of the Robot’s Environmental Map Using Interval Analysis

2005 ◽  
pp. 127-141 ◽  
Author(s):  
Cyril Drocourt ◽  
Laurent Delahoche ◽  
Eric Brassart ◽  
Bruno Marhic ◽  
Arnaud Clérentin
Keyword(s):  
Interval Analysis ◽  
Incremental Construction ◽  
Environmental Map

Establishment of the ecological environmental map for Hoa binh town based on the study of ecological landscape and ecological environment

2018 ◽  
Vol 25 (2) ◽  
pp. 185-189
Author(s):  
Nguyễn Thế Thôn
Keyword(s):  
Ecological Environment ◽  
The Matrix ◽  
Ecological Landscape ◽  
Environmental Map ◽  
Hoa Binh

Based on the ecolandscape theory and using the Map Info software, the author has established the ecological environmental map for Hoa Binhtown. In this map all of natural environmental components, poilution, degradation, catastrophe and break-down of environment are described.Annotation of the map have two parts : 1) the ecolandscape (ecological environment of the territory) is described with matrix ; 2) the pollution,degradation, catastrophe and break-down of environment are described with description table and that is under the matrix.

scholarly journals Calculation Method of Permanent Deformation of Asphalt Mixture Based on Interval Number

Materials ◽  
2021 ◽  
Vol 14 (9) ◽  
pp. 2116
Author(s):  
Yue Xiao ◽  
Limin Tang ◽  
Jiawei Xie
Keyword(s):  
Interval Analysis ◽  
Calculation Method ◽  
Design Theory ◽  
Permanent Deformation ◽  
Asphalt Mixture ◽  
Design Parameters ◽  
Interval Variable ◽  
Road Design ◽  
Weight Assignment ◽  
Variable Weight

There are great uncertainties in road design parameters, and the traditional point numerical calculation results cannot reflect the complexity of the actual project well. Additionally, the calculation method of road design theory based on interval analysis is more difficult in the use of uncertain design parameters. In order to simplify the calculation process of the interval parameters in the road design theory, the asphalt pavement design is taken as the analysis object, and the permanent deformation of the asphalt mixture is simplified by combining the interval analysis theory. Considering the uncertainty of the design parameters, the data with boundaries but uncertain size are expressed in intervals, and then the interval calculation formula for the permanent deformation of the asphalt mixture is derived, and the interval results are obtained. In order to avoid the dependence of interval calculation on the computer code, according to the interval calculation rule, the interval calculation method with the upper and lower end point values as point operations is proposed. In order to overcome the contradiction between interval expansion results and engineering applications, by splitting the multi-interval variable formulas, the interval variable weights are reasonably given, and the synthesis of each single interval result realizes a simplified calculation based on interval variable weight assignment. The analysis results show that the interval calculation method based on the point operation rule is accurate and reliable, and the simplified method based on the interval variable weight assignment is effective and feasible. The simplified interval calculation method proposed in this paper provides a reference for the interval application of road design theory.

scholarly journals Incremental Construction of Generalized Voronoi Diagrams on Pointerless Quadtrees

2014 ◽  
Vol 2014 ◽  
pp. 1-14 ◽  
Author(s):  
Quanjun Yin ◽  
Long Qin ◽  
Xiaocheng Liu ◽  
Yabing Zha
Keyword(s):  
Voronoi Diagrams ◽  
Surrounding Area ◽  
Repair Mechanism ◽  
Local Repair ◽  
Order Of Magnitude ◽  
Generalized Voronoi Diagrams ◽  
Incremental Construction ◽  
Coarse To Fine ◽  
Multiple Granularities ◽  
Magnitude Improvement

In robotics, Generalized Voronoi Diagrams (GVDs) are widely used by mobile robots to represent the spatial topologies of their surrounding area. In this paper we consider the problem of constructing GVDs on discrete environments. Several algorithms that solve this problem exist in the literature, notably the Brushfire algorithm and its improved versions which possess local repair mechanism. However, when the area to be processed is very large or is of high resolution, the size of the metric matrices used by these algorithms to compute GVDs can be prohibitive. To address this issue, we propose an improvement on the current algorithms, using pointerless quadtrees in place of metric matrices to compute and maintain GVDs. Beyond the construction and reconstruction of a GVD, our algorithm further provides a method to approximate roadmaps in multiple granularities from the quadtree based GVD. Simulation tests in representative scenarios demonstrate that, compared with the current algorithms, our algorithm generally makes an order of magnitude improvement regarding memory cost when the area is larger than210×210. We also demonstrate the usefulness of the approximated roadmaps for coarse-to-fine pathfinding tasks.

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