Multi-hierarchical representation of large-scale space

This book formalizes multiple abstraction (arranging knowledge hierarchically using more than one hierarchy) based on graphs, and studies in-depth its implications in path search, graph isomorphism, and in the automatic construction of multi-hierarchical structures. It also describes its application as a model of the large-scale space environment of mobile robots, including real mobile robots and a well-known computational model of the human cognitive map: the Spatial Semantic Hierarchy. This book is intended for PhD students and in general for robotics, computer science, and artificial intelligence researchers.