Oxford Basics Simple Speaking Activities (vh)

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Newcombe, N. S. & Huttenlocher, J. (2000). Making space. Cambridge, MA: MIT-Press. Newell, A. (1990). Unified theories of cognition. Cambridge, MA: Harvard University Press. C. R. (1988). Points of reference in spatial cognition: Stalking elusive landmarks. British Journal of Developmental Psychology, 6, 378–381. Scaife, M. & Rogers, Y. (1996) External cognition: How do graphical representations work? International Journal of Human-Computer Studies, 45, 185–213. , Eschenbach, C, Habel, C. (in print).

In (3) and (4), the sigmoid function sig is used to map the deviations in length and in rotation angle into the intended range. The idea is to tolerate 42 Axel Lankenau, Thomas R¨ ofer, and Bernd Krieg-Br¨ uckner small deviations with respect to the corridors’ length or the angles, respectively, whereas large deviations lead to only small similarity values. If the route R only comprises one corner (the “don’t care corner”), i. , R = c0 , the angle is ignored, because it is the initial rotation angle that has no meaning (cf.

The basic idea of the self-localization approach is to match the incremental generalization of the currently traveled route with the route graph. This matching process provides a hypothesis about the robot’s current position in its environment: RouteLoc ongoingly determines the hallway (represented by an edge in the route graph), in which the robot is most likely located at that very moment in time. Since the distance already traveled in the hallway is also known, an additional offset can be derived.

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