SPATIAL DATA STRUCTURES FOR ROBOTIC VEHICLE ROUTE PLANNING

Award Information
Agency:
Department of Defense
Branch
Army
Amount:
$162,583.00
Award Year:
1987
Program:
SBIR
Phase:
Phase II
Contract:
n/a
Award Id:
3600
Agency Tracking Number:
3600
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
201 San Antonio Cir - Ste 286, Mountain View, CA, 94040
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
Dr Jay Glicksman
(415) 941-3912
Business Contact:
() -
Research Institute:
n/a
Abstract
ADS IS PROPOSING TO DEVELOP OBJECT-ORIENTED, SCHEMA-BASED DATA STRUCTURES FOR REPRESENTING TERRAIN DATA. THESE DATA STRUCTURES CAN SATISFY DEMANDING SPACE AND TIME CONSTRAINTS BY MINIMIZING PAGING IN A VIRTUAL MEMORY SYSTEM. THIS WILL BE ACCOMPLISHED BY COMPACTLY REPRESENTING THE DATA IN A FORMAT DIRECTLY RELEVANT TO THE ROUTE PLANNING APPLICATIONS. THE SCHEMATA EXPLICITLY REPRESENT THRESS ASPECTS OF TERRAIN FEATURES: SPATIAL ATTRIBUTES, WHICH ARE BUILT UPON TWO-DIMENSIONAL, MULTI-RESOLUTION DESCRIPTIONS OF CURVES AND REGIONS AUGMENTED WITH ELEVATIONS AT FEATURE POINTS; NON-SPATIAL ATTRIBUTES; AND RELATIONS AMOND THE SCHEMATA (E.G., ADJACENCY). IMAGE ANALYSIS ROUTINES WILL BE USED TO EXTRACT TERRAIN FEATURES FROM THE RAW DATA. THE DATA STRUCTURES WILL BE TAILORED TO THE APPLICATIONS SO THAT PLANNING ALGORITHMS USING AI TECHNIQUES (E.G., GRAPH SEARCH) WILL HAVE READY ACCESS TO PERTINENT DATA. THE PHASE I EFFORT WILL USE EXISTING ADS TOOLS TO DESIGN AND IMPLEMENT A PARTIAL DATA BASE FOR REPRESENTATIVE FEATURES FROM A REAL SOURCE OF TERRAIN DATA. DUE TO THE MODULAR NATURE OF THE SCHEMATA THESE DATA STRUCTURES WILL BE COMPATIBLE WITH PHASE II GOALS FOR DYNAMIC UPDATES.

* information listed above is at the time of submission.

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