Augmentation of space perception by integration of multiple observation systems

We have studied a dynamically reconfigurable robot system which is a model of a multiple robot system. The purpose of our study is the realization and practical use of dynamic reconfiguration, especially in cooperation relations among robots according to task, environment and function. We consider space perception by multiple robots as the basic and important ability for robots to behave in environments. The space perception means the mapping from sensing information of each robot to a common task oriented observation coordinate system given by the designer. In the paper the mapping is acquired through learning using time series sensing information. Self-evaluation of reliability of observation for integration is also reported. We examined the proposed the method by using a task model in a two robots environment and the advantage of dynamic reconfiguration of the observation system is reported