The authors address the development of a coherent framework suitable for the treatment of the heterogeneous multisensorfusion problem, in the context of a robotic environment. The analysis, is based on a geometric de...
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The authors address the development of a coherent framework suitable for the treatment of the heterogeneous multisensorfusion problem, in the context of a robotic environment. The analysis, is based on a geometric description of the robotic environment, and concentrates on parameterizable features of the assumed rigid dynamic objects of interest present in the environment. A quantitative representation of a sensor's inherent ability to extract pertinent information from the environment is stressed. A highly efficient, flexible, and fault-tolerant, decentralizedsensorfusion architecture based on a linear information type structure is presented and compared with previous work in this area. The inclusion of techniques to cope with generalized spatial and temporal uncollocation, along with conclusive discussions on the most appropriate level in the fusion structure for these alignment procedures to be performed, represent the principal contribution.< >
This article proposes a behavioral control formalism to explain situations often encountered in complex sensor/data fusion (eventually decentralized) information acquisition, command and controlsystems, it involves m...
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This article proposes a behavioral control formalism to explain situations often encountered in complex sensor/data fusion (eventually decentralized) information acquisition, command and controlsystems, it involves making the input-output relations of each actor involved in the fusion process conditional on selected behavioral classes, with error creation and repair options. For each behavioral class, the input-output relations are modified by concurrent behavioral rules, while the class itself has visible and hidden attributes. A formalism is also given for interactions between actors. This approach allows to describe and analyze such situations as: indirect observations, ambiguous controls, hysterisis, deadlocks, initiation of attention mechanisms. Finally, the engineering use of this approach is illustrated by three concrete designs involving humans operating indoors.
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