An adaptive sensory perception controller for robotic systems

Presents an approach to the management of perception in a multi-sensor robotic system. The approach is based around an adaptive sensory perception controller which has two significant characteristics: (1) it performs real-time selection of process monitors based on the minimisation of the expected cost of perception with constraints on the uncertainty of perception, and (2) it performs online adaptation of the perception models on which the monitor selection is based. The approach is shown to be useful and effective in experiments involving a range of sensing modalities which may typically be encountered in robotic applications