Task-Directed Sensor Fusion and Planning

A Computational Approach

  • Gregory D. Hager

Table of contents

  1. Front Matter
    Pages i-xvii
  2. Gregory D. Hager
    Pages 1-14
  3. Gregory D. Hager
    Pages 15-52
  4. Gregory D. Hager
    Pages 53-71
  5. Gregory D. Hager
    Pages 73-105
  6. Gregory D. Hager
    Pages 107-136
  7. Gregory D. Hager
    Pages 137-153
  8. Gregory D. Hager
    Pages 155-174
  9. Gregory D. Hager
    Pages 175-198
  10. Gregory D. Hager
    Pages 199-210
  11. Back Matter
    Pages 211-254

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.


Extension Moment artificial intelligence decision theory intelligence modeling programming robot robotics robotics research sensing sensor sensors simulation uncertainty

Authors and affiliations

  • Gregory D. Hager
    • 1
  1. 1.University of PennsylvaniaUSA

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag US 1990
  • Publisher Name Springer, Boston, MA
  • eBook Packages Springer Book Archive
  • Print ISBN 978-1-4612-8828-2
  • Online ISBN 978-1-4613-1545-2
  • Series Print ISSN 0893-3405
  • Buy this book on publisher's site
Industry Sectors
IT & Software
Energy, Utilities & Environment
Oil, Gas & Geosciences