An Intellectual History of the Spatial Semantic Hierarchy

  title={An Intellectual History of the Spatial Semantic Hierarchy},
  author={Benjamin Kuipers},
  booktitle={Robotics and Cognitive Approaches to Spatial Mapping},
The Spatial Semantic Hierarchy and its predecessor the TOUR model are theories of robot and human commonsense knowledge of large-scale space : the ognitive map. The focus of these theories is on how spatial knowledge is acq uired from experience in the environment, and how it can be used effectively in spit e of being incomplete and sometimes incorrect. This essay is a personal reflection on the evolution of these i deas since their beginning early in 1973 while I was a graduate student at the… CONTINUE READING
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