DocumentCode :
2610613
Title :
Fusing multiple sensors through behaviors with the distributed architecture
Author :
Towle, Bradford A., Jr. ; Nicolescu, Monica
Author_Institution :
Univ. of Nevada, Reno, NV, USA
fYear :
2010
fDate :
5-7 Sept. 2010
Firstpage :
115
Lastpage :
120
Abstract :
This paper describes a new action selection mechanism that allows the robot controller to dynamically determine which goals (tasks) are most applicable in the current state of the environment. This allows the robotic controller to resolve conflicting goals that arise, allow multiple non-conflicting goals to run simultaneously, and dynamically switch to a new goal if the target for the goal has been found in the environment. This is accomplished by using a behavior based paradigm and allowing each behavior to calculate its own activation level (run level). The behaviors then use the activation level to compete for control in a new distributed control architecture to allow execution of multiple (and sometimes conflicting) goals on a robotic system.
Keywords :
distributed control; multi-robot systems; sensor fusion; action selection mechanism; behavior based paradigm; distributed architecture; distributed control architecture; multiple sensor fusion; robotic controller; robotic system; Actuators; Computer architecture; Equations; Mathematical model; Radiation detectors; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems (MFI), 2010 IEEE Conference on
Conference_Location :
Salt Lake City, UT
Print_ISBN :
978-1-4244-5424-2
Type :
conf
DOI :
10.1109/MFI.2010.5604483
Filename :
5604483
Link To Document :
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