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
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;
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
DOI :
10.1109/MFI.1996.572225
