Title :
A verified architecture for sensor fusion
Author :
Pearson, C.M. ; Probert, P.J.
Author_Institution :
Dept. of Eng. Sci., Oxford Univ., UK
Abstract :
An architecture for the control of a multi-sensor mobile robot is proposed. The architecture is based on the subsumption approach, but with limited sharing of data between behaviours. The mechanisms were developed with the aid of the formal CSP notation, and critical parts have been proved deadlock free
Keywords :
computer architecture; detectors; robots; deadlock free; formal CSP notation; limited sharing; sensor fusion; subsumption approach; verified architecture; Bandwidth; Communication system control; Computer architecture; Concurrent computing; Formal languages; Mathematical model; Robot sensing systems; Robustness; Sensor fusion; System recovery;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174638
