| 摘要 |
Functionality is described for probabilistically determining the location of an agent within an environment. The functionality performs this task using a topological representation of the environment provided by a directed graph. Nodes in the directed graph represent locations in the environment, while edges represent transition paths between the locations. The functionality also provides a mechanism by which the agent can navigate in the environment based on its probabilistic assessment of location. Such a mechanism can use a high-level control module and a low-level control module. The high-level control module determines an action for the agent to take by considering a plurality of votes associated with different locations in the directed graph. The low-level control module allows the agent to navigate along a selected edge when the high-level control module votes for a navigation action. |
