DocumentCode :
3314361
Title :
Fault-tolerant probabilistic sensor fusion for Multi-Agent Systems
Author :
Pahliani, Abdolkarim ; Spaan, Matthijs T J ; Lima, Pedro U.
Author_Institution :
Inst. for Syst. & Robot., Tech. Univ. of Lisbon, Lisbon, Portugal
fYear :
2010
fDate :
18-22 Oct. 2010
Firstpage :
4812
Lastpage :
4817
Abstract :
In this work we focus on the problem of probabilistic sensor fusion in Multi-Robot Multi-Sensor Systems (MRMS), taking into account that some sensors might fail or produce erroneous information. We study fusion methods that can successfully cope with situations of agreement, partial agreement, and disagreement between sensors. We define a set of specifications for fusion methods appropriate for MRMS environments. In light of these specifications, we review two popular algorithms for probabilistic sensor fusion, Linear Opinion Pool (LOP) and Logarithmic Opinion Pool (LGP). To overcome difficulties of applying them to a MRMS setting, a new method is introduced, p-norm Opinion Pool (POP). Comparing to LOP and LGP, POP is more compatible with the specifications and more flexible, successfully handling situations of agreement and disagreement between sensors. Through simulation and real-world experiments, we check performance of the POP and compare it with LOP and LGP. We also implement a real-world experiment through which the performance of POP is examined.
Keywords :
fault tolerance; multi-agent systems; multi-robot systems; sensor fusion; fault-tolerant probabilistic sensor fusion; linear opinion pool; logarithmic opinion pool; multiagent systems; multirobot multisensor systems; p-norm opinion pool;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
ISSN :
2153-0858
Print_ISBN :
978-1-4244-6674-0
Type :
conf
DOI :
10.1109/IROS.2010.5650337
Filename :
5650337
Link To Document :
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