Translator Disclaimer
9 October 1998 Dynamic sensor action selection with Bayesian decision analysis
Author Affiliations +
Proceedings Volume 3523, Sensor Fusion and Decentralized Control in Robotic Systems; (1998) https://doi.org/10.1117/12.327000
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States
Abstract
The aim of this work is to create a framework for the dynamic planning of sensor actions for an autonomous mobile robot. The framework uses Bayesian decision analysis, i.e., a decision-theoretic method, to evaluate possible sensor actions and selecting the most appropriate ones given the available sensors and what is currently known about the state of the world. Since sensing changes the knowledge of the system and since the current state of the robot (task, position, etc.) determines what knowledge is relevant, the evaluation and selection of sensing actions is an on-going process that effectively determines the behavior of the robot. The framework has been implemented on a real mobile robot and has been proven to be able to control in real-time the sensor actions of the system. In current work we are investigating methods to reduce or automatically generate the necessary model information needed by the decision- theoretic method to select the appropriate sensor actions.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Steen Kristensen, Volker Hansen, and Konstantin Kondak "Dynamic sensor action selection with Bayesian decision analysis", Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); https://doi.org/10.1117/12.327000
PROCEEDINGS
10 PAGES


SHARE
Advertisement
Advertisement
RELATED CONTENT

Needs and emerging trends of remote sensing
Proceedings of SPIE (June 03 2014)
Architecture for reactive planning of robot actions
Proceedings of SPIE (January 08 1995)
Integrated system for sensing and traverse of cliff faces
Proceedings of SPIE (September 29 2003)
Model-Based Visual Navigation System For A Mobile Robot
Proceedings of SPIE (March 09 1989)
Flexible task-specific control using active vision
Proceedings of SPIE (April 29 1992)
Task Directed Sensing
Proceedings of SPIE (February 28 1990)
Object-oriented vision for a behavior-based robot
Proceedings of SPIE (October 28 1996)

Back to Top