Multi-sensor/knowledge fusion

This paper presents a new approach to solve the sensor fusion problem. This new approach is called multi-sensor/knowledge fusion (MSKF) which takes into account not only the fusion of information between multiple sensory systems but also the fusion between sensory information with system´s prior knowledge of its environment. This MSKF architecture is a modification of the real-time control system (RCS) developed by Albus (1997). This RCS was designed to be a reference control architecture model for creating intelligent systems. The RCS itself uses a hierarchical control strategy with each layer of the hierarchy decomposes into plans for parallel and sequential sub-tasks. However, the sensory processing module in the RCS was re-designed in the MSKF architecture for the use of multiple types of sensors. The test of this new control architecture is carried out on a LEGO toy kit assembly task