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

Fingerprint

Lattice Structure
Feedback
Sensor
Sensors
Many to one
State Estimation
State estimation
Robotics
State Space
Sensing
Trade-offs
Filter
Uncertainty

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

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

Sensor lattices : Structures for comparing information feedback. / Lavalle, Steven M.

12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. p. 239-246 8787364 (12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings).

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

Lavalle, SM 2019, Sensor lattices: Structures for comparing information feedback. in 12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings., 8787364, 12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 239-246, 12th International Workshop on Robot Motion and Control, RoMoCo 2019, Poznan, Poland, 7/8/19. https://doi.org/10.1109/RoMoCo.2019.8787364
Lavalle SM. Sensor lattices: Structures for comparing information feedback. In 12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings. Institute of Electrical and Electronics Engineers Inc. 2019. p. 239-246. 8787364. (12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings). https://doi.org/10.1109/RoMoCo.2019.8787364
Lavalle, Steven M. / Sensor lattices : Structures for comparing information feedback. 12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 239-246 (12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings).
@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}",
year = "2019",
month = "7",
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",

}

TY - GEN

T1 - Sensor lattices

T2 - Structures for comparing information feedback

AU - Lavalle, Steven M

PY - 2019/7

Y1 - 2019/7

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85071490084&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85071490084&partnerID=8YFLogxK

U2 - 10.1109/RoMoCo.2019.8787364

DO - 10.1109/RoMoCo.2019.8787364

M3 - Conference contribution

AN - SCOPUS:85071490084

T3 - 12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings

SP - 239

EP - 246

BT - 12th International Workshop on Robot Motion and Control, RoMoCo 2019 - Workshop Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

ER -