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

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.

Link to Full Text

Share

COinS