Title :
A possibilistic approach to sensor fusion in mobile robotics
Author :
Bison, Paolo ; Chemello, Gaetano ; Sossai, Claudio ; Trainito, Gaetano
Author_Institution :
LADSEB, CNR, Padova, Italy
Abstract :
We present a formal method, based on the logic of possibility, to fuse uncertain sensory information and to produce an estimate of the position of a mobile robot. The robot navigates in an office environment, using a topological map, with the assistance of a “slave” robot acting as a portable local landmark. Each relevant place in the map is characterized by a set of logical formulae axiomatizing both “crisp” knowledge and uncertain information from the sensors. At each time instant during navigation, the necessity degree of each place is calculated using a purely syntactical method based on sequent calculus
Keywords :
cooperative systems; mobile robots; path planning; position control; probabilistic logic; sensor fusion; topology; uncertainty handling; cooperative navigation; formal method; mobile robot; path planning; position control; possibilistic logic; sensor fusion; topological map; uncertain sensory information; Bayesian methods; Calculus; Fuses; Logic; Mobile robots; Navigation; Robot sensing systems; Sensor fusion; Sensor phenomena and characterization; Uncertainty;
Conference_Titel :
Advanced Mobile Robots, 1997. Proceedings., Second EUROMICRO workshop on
Conference_Location :
Brescia
Print_ISBN :
0-8186-8174-8
DOI :
10.1109/EURBOT.1997.633579