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Task-Directed Sensor Fusion and Planning

A Computational Approach

  • Book
  • © 1990
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Overview

Authors:
  1. Gregory D. Hager

    1. University of Pennsylvania, USA

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Table of contents (9 chapters)

  1. Front Matter

    Pages i-xvii
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  2. Introduction

    • Gregory D. Hager
    Pages 1-14
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  3. Modeling Sensors

    • Gregory D. Hager
    Pages 15-52
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  4. Task Modeling and Decision Making

    • Gregory D. Hager
    Pages 53-71
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  5. Mean-Square Estimation

    • Gregory D. Hager
    Pages 73-105
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  6. Grid-Based Probability Density Methods

    • Gregory D. Hager
    Pages 107-136
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  7. Choosing Viewpoints and Features

    • Gregory D. Hager
    Pages 137-153
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  8. Towards a Task-Level Programming Environment

    • Gregory D. Hager
    Pages 155-174
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  9. An Experimental System

    • Gregory D. Hager
    Pages 175-198
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  10. Future Extensions

    • Gregory D. Hager
    Pages 199-210
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  11. Back Matter

    Pages 211-254
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Keywords

About this book

If you have ever hiked up a steep hill to reach a viewpoint, you will know that sensing can involve the expenditure of effort. More generally, the choice of which movement an intelligent system chooses to make is usually based on information gleaned from sensors. But the information required to make the motion decision may not be immediately to hand, so the system . first has to plan a motion whose purpose is to acquire the needed sensor information. Again, this conforms to our everyday experience: I am in the woods and don't know which direction to go, so I climb up to the ridge to get my bearings; I am lost in a new town, so I plan to drive to the next junction where there is sure to be a roadsign, failing that I will ask someone who seems to be from the locality. Why, if experiences such as these are so familiar, has the problem only recently been recognised and studied in Robotics? One reason is that until quite recently Robotics research was dominated by work on robot arms with limited reach and fixed in a workcell.

Authors and Affiliations

  • University of Pennsylvania, USA

    Gregory D. Hager

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