To increase their autonomy, mobile robots are now supplied with many sensors. The aim of the multi-sensor reconfiguration task is to find the uncorrupted measurements and coordinate the sensors in order to supply reliable information at any time; in other words, the multisensor reconfiguration provides reliable information to the robot even if a certain number of sensors are faulty. To reach this end, reconfiguration gathers three tasks: fault detection and isolation task, sensor control task and data integration task. Before information analysis, an effective model of sensors capabilities is necessary. The approach proposed in this paper is a rule-based algorithm. An application to mobile robot multisensor system is presented.
Mobile robot multisensor reconfiguration
2000-01-01
512987 byte
Conference paper
Electronic Resource
English
Mobile Robot Multisensor Reconfiguration
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