Navigation of uncertain terrain by fusion of information from real and synthetic imagery

Damian M. Lyons; Paramesh Nirmal; D. Paul Benjamin

doi:10.1117/12.919330

10 May 2012 Navigation of uncertain terrain by fusion of information from real and synthetic imagery

Damian M. Lyons, Paramesh Nirmal, D. Paul Benjamin

Proceedings Volume 8407, Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2012; 84070D (2012) https://doi.org/10.1117/12.919330
Event: SPIE Defense, Security, and Sensing, 2012, Baltimore, Maryland, United States

Abstract

We consider the scenario where an autonomous platform that is searching or traversing a building may observe unstable masonry or may need to travel over unstable rubble. A purely behaviour-based system may handle these challenges but produce behaviour that works against long-terms goals such as reaching a victim as quickly as possible. We extend our work on ADAPT, a cognitive robotics architecture that incorporates 3D simulation and image fusion, to allow the robot to predict the behaviour of physical phenomena, such as falling masonry, and take actions consonant with long-term goals. We experimentally evaluate a cognitive only and reactive only approach to traversing a building filled with various numbers of challenges and compare their performance. The reactive only approach succeeds only 38% of the time, while the cognitive only approach succeeds 100% of the time. While the cognitive only approach produces very impressive behaviour, our results indicate how much better the combination of cognitive and behaviour-based can be.

Citation Download Citation

Damian M. Lyons, Paramesh Nirmal, and D. Paul Benjamin "Navigation of uncertain terrain by fusion of information from real and synthetic imagery", Proc. SPIE 8407, Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2012, 84070D (10 May 2012); https://doi.org/10.1117/12.919330

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