Map Manager

This agent is responsible for maintaining the information of the explored environment in the topological map. The activity of this agent consists of processing the information associated with the incoming viewframes - expanding the graph, creating $\beta$-vectors, and asynchronously changing arcs' cost labels when informed by other robot systems. This agent uses the fuzzy beta-coefficient system described in Chapter 3 to build the map and answer questions about landmark positions.

The Map Manager is also responsible for computing the quality of the set of landmarks in the current viewframe, when required by the Risk Manager. This quality is a function of the collinearity of the landmarks. Having a set $\mathit{S}$ of landmarks, their quality is computed as: $q_{s} = \max \{1-Col(S') \vert S' \subseteq S, \vert S' \vert = 3 \}$ where $Col(S')$ is computed using the equation 3.4.

This agent also computes diverting targets when asked for by the Rescuer. To do so, it uses the topological map, where all path costs are recorded, to compute which should be the next region to visit in order to reach the target. A description of the computation of diverting targets was already given in Chapter 3.