DocumentCode
2634006
Title
Decision-theoretic multisensor planning and integration for mobile robot navigation
Author
Kristensen, Steen ; Christensen, Henrik I.
Author_Institution
Lab. of Image Anal., Aalborg Univ., Denmark
fYear
1996
fDate
11-11 Dec. 1996
Firstpage
517
Lastpage
524
Abstract
A decision-theoretic approach to multisensor planning and integration is investigated. The decision-theoretic framework allows for rational decision making under uncertainty and furthermore a highly modular system description that facilitates easy system integration. Experiments with a real robot show that the decision-theoretic sensor planner is capable of making rational real-time decisions about sensor use in an autonomous mobile robot context.
Keywords
computerised navigation; decision theory; mobile robots; navigation; planning; sensor fusion; decision-theoretic multisensor planning; mobile robot navigation; multisensor integration; rational real-time decisions; sensor planner; uncertainty; Actuators; Decision making; Image analysis; Mobile robots; Navigation; Robot sensing systems; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Multisensor Fusion and Integration for Intelligent Systems, 1996. IEEE/SICE/RSJ International Conference on
Conference_Location
Washington, DC, USA
Print_ISBN
0-7803-3700-X
Type
conf
DOI
10.1109/MFI.1996.572225
Filename
572225
Link To Document