Hierarchical Voronoi Graphs: Spatial Representation and Reasoning for Mobile Robots

What is space? Is there space when there are objects to occupy it or is there space only when there are no objects to occupy it? Can there be space without objects? These are old philosophical questions that concern the ontology of space in the philosophical sense of ‘ontology’ – what is the nature of space? Cognitive science in general and artificial intelligence in particular are less c- cerned with the nature of things than with their mental conceptualizations. In spatial cognition resea...