Computer Science
Sensor Abstractions for Control of Navigation
Document Type
Conference Paper
Abstract
Wepresent an approach to building hlgh-level control systems for robotics based on Bayesian decision theory. We show how this approach provides a natural and modular way of integrating sensing and planning. We develop a simple solution for a particular problemas an illustration. Weexaminethe cost of using such a model and consider the areas in which abstraction can reduce this cost. Wefocus on one area, spatial abstraction, and discuss the design issues that arise in choosing a spatial abstraction. Finally, wediscuss an abstraction that we have used to solve problems involving robot navigation, and give a detailed account of the mapping from raw sensor data to the abstraction.
Publication Title
AAAI Fall Symposium - Technical Report
Publication Date
1992
Volume
FS-92-03
First Page
155
Last Page
160
DOI
10.1109/ROBOT.1991.131536
Repository Citation
Kirman, Jak; Basye, Kenneth; and Dean, Thomas, "Sensor Abstractions for Control of Navigation" (1992). Computer Science. 220.
https://commons.clarku.edu/faculty_computer_sciences/220
APA Citation
Kirman, J., Basye, K., & Dean, T. (1991, January). Sensor abstractions for control of navigation. In Proceedings. 1991 IEEE International Conference on Robotics and Automation (pp. 2812-2813). IEEE Computer Society.
