Reliable control and sensor fusion in intelligent machines

Given an explicit task to be executed, an intelligent machine must be able to select a plan containing control and sensing strategies such that a desired set of specifications are reliably satisfied. This issue is addressed through a technique termed reliable control and sensor fusion. An approach to reliability analysis is proposed based on the use of entropy which is invariant with respect to homogeneous coordinate frame transformations. This yields an easily calculated set of entropy constraints that must be met to ensure reliable operation. An example problem illustrates the technique and presents general results for visual positioning