Sensor lattices: Structures for comparing information feedback

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

Abstract

This paper addresses the sensing uncertainty associated with the many-to-one mapping from a physical state space onto a sensor observation space. By studying preimages of this mapping for each sensor, a notion of sensor dominance is introduced, which enables interchangeability of sensors and a clearer understanding of their tradeoffs. The notion of a sensor lattice is also introduced, in which all possible sensor models are arranged into a hierarchy that indicates their power and gives insights into the construction of filters over time and space. This provides a systematic way to compare and characterize information feedback in robotic systems, in terms of their level of ambiguity with regard to state estimation.

Original languageEnglish (US)
Title of host publication12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages239-246
Number of pages8
ISBN (Electronic)9781728129754
DOIs
StatePublished - Jul 2019
Event12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Poznan, Poland
Duration: Jul 8 2019Jul 10 2019

Publication series

Name12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings

Conference

Conference12th International Workshop on Robot Motion and Control, RoMoCo 2019
CountryPoland
CityPoznan
Period7/8/197/10/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Lavalle, S. M. (2019). Sensor lattices: Structures for comparing information feedback. In 12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings (pp. 239-246). [8787364] (12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RoMoCo.2019.8787364