Integration, Coordination and Control of Multi-Sensor Robot Systems

✍ Scribed by Hugh F. Durrant-Whyte (auth.)

• Publisher: Springer US
• Year: 1987
• Tongue: English
• Leaves: 247
• Series: The Kluwer International Series in Engineering and Computer Science 36
• Edition: 1
• Category: Library

✦ Synopsis

Overview Recent years have seen an increasing interest in the development of multi-sensory robot systems. The reason for this interest stems from a realization that there are fundamental limitations on the reconstruction of environment descriptions using only a single source of sensor information. If robot systems are ever to achieve a degree of intelligence and autonomy, they must be capable of using many different sources of sensory information in an active and dynamic manner. The observations made by the different sensors of a multi-sensor system are always uncertain, usually partial, occasionally spuri9us or incorrect and often geographically or geometrically imcomparable with other sensor views. The sensors of these systems are characterized by the diversity of information that they can provide and by the complexity of their operation. It is the goal of a multi­ sensor system to combine information from all these different sources into a robust and consistent description of the environment.

✦ Table of Contents

Front Matter....Pages i-xix
Introduction....Pages 1-17
Environment Models and Sensor Integration....Pages 19-64
Sensors and Sensor Models....Pages 65-97
Integrating Sensor Observations....Pages 99-139
Coordination and Control....Pages 141-179
Implementation and Results....Pages 181-209
Conclusions....Pages 211-212
Back Matter....Pages 213-236

✦ Subjects

Computer Imaging, Vision, Pattern Recognition and Graphics;Control, Robotics, Mechatronics