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.


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    Titel :

    Mobile robot multisensor reconfiguration


    Beteiligte:
    Djath, K. (Autor:in) / Dufaut, M. (Autor:in) / Wolf, D. (Autor:in)


    Erscheinungsdatum :

    2000-01-01


    Format / Umfang :

    512987 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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