{"title":"移动机器人多传感器重构","authors":"K. Djath, M. Dufaut, D. Wolf","doi":"10.1109/IVS.2000.898327","DOIUrl":null,"url":null,"abstract":"To increase their autonomy, mobile robots are now supplied with many sensors. The aim of the multi-sensor reconfiguration task is to find the uncorrupted measurements and coordinate the sensors in order to supply reliable information at any time; in other words, the multisensor reconfiguration provides reliable information to the robot even if a certain number of sensors are faulty. To reach this end, reconfiguration gathers three tasks: fault detection and isolation task, sensor control task and data integration task. Before information analysis, an effective model of sensors capabilities is necessary. The approach proposed in this paper is a rule-based algorithm. An application to mobile robot multisensor system is presented.","PeriodicalId":114981,"journal":{"name":"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2000-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":"{\"title\":\"Mobile robot multisensor reconfiguration\",\"authors\":\"K. Djath, M. Dufaut, D. Wolf\",\"doi\":\"10.1109/IVS.2000.898327\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"To increase their autonomy, mobile robots are now supplied with many sensors. The aim of the multi-sensor reconfiguration task is to find the uncorrupted measurements and coordinate the sensors in order to supply reliable information at any time; in other words, the multisensor reconfiguration provides reliable information to the robot even if a certain number of sensors are faulty. To reach this end, reconfiguration gathers three tasks: fault detection and isolation task, sensor control task and data integration task. Before information analysis, an effective model of sensors capabilities is necessary. The approach proposed in this paper is a rule-based algorithm. An application to mobile robot multisensor system is presented.\",\"PeriodicalId\":114981,\"journal\":{\"name\":\"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)\",\"volume\":\"53 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2000-10-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"14\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IVS.2000.898327\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IVS.2000.898327","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
To increase their autonomy, mobile robots are now supplied with many sensors. The aim of the multi-sensor reconfiguration task is to find the uncorrupted measurements and coordinate the sensors in order to supply reliable information at any time; in other words, the multisensor reconfiguration provides reliable information to the robot even if a certain number of sensors are faulty. To reach this end, reconfiguration gathers three tasks: fault detection and isolation task, sensor control task and data integration task. Before information analysis, an effective model of sensors capabilities is necessary. The approach proposed in this paper is a rule-based algorithm. An application to mobile robot multisensor system is presented.
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