Title :
Approximate reasoning for the control of a robot in an uncertain environment: a multi-model approach
Author :
Dubois, Laurent ; Fukuda, Toshio ; Delmotte, François ; Borne, Pierre
Author_Institution :
Dept. of Micro Syst. Eng., Nagoya Univ., Japan
Abstract :
The use of a nonlinear context dependent operator based on possibility theory is studied in order to provide a generic fusion mechanism in different parts of the control of a robot in an uncertain, ill-defined environment. Its main interest consists in the definition of a reliability degree for each partial result which may allow a more pertinent adaptive mechanism
Keywords :
identification; inference mechanisms; mobile robots; possibility theory; sensor fusion; uncertainty handling; adaptive mechanism; approximate reasoning; generic fusion mechanism; ill-defined environment; multi-model approach; nonlinear context dependent operator; possibility theory; reliability degree; robot; uncertain environment; Animals; Centralized control; Control systems; Eyes; Nonlinear control systems; Possibility theory; Robot control; Robot sensing systems; Sensor fusion; Systems engineering and theory;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620136
