Goal-driven task assignment and sensor control in multi-sensor systems: a multicriteria approach

It is argued that a key for intelligence of any multi-sensor system is its capability to utilize its different resources according to the different goals of its sensory tasks. A goal-driven multi-criteria formulation for task assignment and sensor control in multi-sensor systems is proposed. The formulation ties together sensor capabilities, task goals and the information state of the system in a mathematical structure which facilitates the planning and execution of sensory actions in an active manner. It is hoped that this formulation will enhance the practicality of many existing multi-sensor systems. It is shown how the proposed formulation can be used to address the task assignment and sensor control problem in a multi-sensor range measurement system