Applying uncertainty reasoning to planning sensing strategies in a robot work cell with multi-sensor capabilities

S. A. Hutchinson, A. C. Kak

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An approach to planning sensing strategies dynamically on the basis of the system's current best information about the world is described. The approach is for the system to propose a sensing operation automatically and then to determine the maximum ambiguity which might remain in the world description if that sensing operation were applied. When this maximum ambiguity is sufficiently small, the corresponding sensing operation is applied. To do this, the system formulates object hypotheses and assesses its relative belief in those hypotheses to predict what features might be observed by a proposed sensing operations. Furthermore, since the number of sensing operations available to the system can be arbitrarily large, equivalent sensing operations are grouped together using a data structure that is based on the aspect graph. In order to measure the ambiguity in a set of hypotheses, the concept of entropy from information theory is applied. This allows the determination of ambiguity in a hypothesis set in terms of the number of hypotheses and the system's distribution of belief among those hypotheses.

Original languageEnglish (US)
Title of host publicationThird Int Symp Intell Control
EditorsH.E. Stephanou, A. Meystel, J.Y.S. Luh
PublisherPubl by IEEE
Pages129-134
Number of pages6
ISBN (Print)0818620129
StatePublished - Dec 1 1988
EventThird International Symposium on Intelligent Control 1988 - Arlington, VA, USA
Duration: Aug 24 1988Aug 26 1988

Publication series

NameThird Int Symp Intell Control

Other

OtherThird International Symposium on Intelligent Control 1988
CityArlington, VA, USA
Period8/24/888/26/88

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Hutchinson, S. A., & Kak, A. C. (1988). Applying uncertainty reasoning to planning sensing strategies in a robot work cell with multi-sensor capabilities. In H. E. Stephanou, A. Meystel, & J. Y. S. Luh (Eds.), Third Int Symp Intell Control (pp. 129-134). (Third Int Symp Intell Control). Publ by IEEE.