@inproceedings{6b8ee41a508a4b59b604a9ba8c525c94,
title = "Sensor lattices: Structures for comparing information feedback",
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.",
author = "Lavalle, {Steven M.}",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 12th International Workshop on Robot Motion and Control, RoMoCo 2019 ; Conference date: 08-07-2019 Through 10-07-2019",
year = "2019",
month = jul,
doi = "10.1109/RoMoCo.2019.8787364",
language = "English (US)",
series = "12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "239--246",
booktitle = "12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings",
address = "United States",
}