Sensor fusion in robot programming

The major source of external data presented to a robot control system during run time is inevitably derived from sensor information. Sensor fusion has been a field of interest in robotics research for some time now. However, until recently the different depths of sensor fusion, and the manner in which the data is presented at various levels of hierarchical robot programming, has largely been left undefined. The paper defines these categories, taking into account both programming and data fusion levels, and extends their relevance to other aspects of automation control