Paper
1 March 1990 Task Directed Sensing
R. James Firby
Author Affiliations +
Proceedings Volume 1198, Sensor Fusion II: Human and Machine Strategies; (1990) https://doi.org/10.1117/12.970002
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States
Abstract
High level robot control research must confront the limitations imposed by real sensors if robots are to be controlled effectively in the real world. In particular, sensor limitations make it impossible to maintain a complete, detailed world model of the situation surrounding the robot. To address the problems involved in planning with the resulting incomplete and uncertain world models, traditional robot control architectures must be altered significantly. Task directed sensing and control is suggested as a way of coping with world model limitations by focusing sensing and analysis resources on only those parts of the world relevant to the robot's active goals. The RAP adaptive execution system [9] is used as an example of a control architecture designed to deploy sensing resources in this way to accomplish both action and knowledge goals.
© (1990) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
R. James Firby "Task Directed Sensing", Proc. SPIE 1198, Sensor Fusion II: Human and Machine Strategies, (1 March 1990); https://doi.org/10.1117/12.970002
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Cited by 3 scholarly publications.
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KEYWORDS
Sensing systems

Sensors

Systems modeling

Sensor fusion

Data modeling

Active remote sensing

Control systems

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