Experiments and Results in Multi-modal, Distributed, Robotic Perception
Distributed architecture for cooperative perception processes is described. This is called henceforth a perception net (PN). The case of multiple, autonomous, mobile robots navigating with reference to the multi-form world-model is considered. Information sharing and communication issues are pointed out. Description of the experimental implementation made of two mobile platforms is accompanied with the demonstration of results, namely the maps, which have been obtained by fusing the measurements with the a priori knowledge within the logical framework of the PN. The application have been based on the QNX network with Ethernet links.
KeywordsMobile Robot Scanner Data Occupancy Grid Mobile Robot Navigation Logical Sensor
Unable to display preview. Download preview PDF.
- 2.Luo R. C., Kay M. G. (1989) Multisensor Integration and Fusion in Intelligent Systems. IEEE Trans. on SMC, 19(5), 61–70Google Scholar
- 5.Skrzypczynski P., Drapikowski P. (1999) Environment Modelling for a Multi-Agent Mobile System, Proc. EUROBOT’99, Zurich, 41–48Google Scholar
- 6.Lee S., Ro S., Schenker P. (1997) Perception-Net Based Geometric Data Fusion for State Estimation and System Self-Calibration, Proc. IROS’97. Grenoble, 1375a–1375gGoogle Scholar
- 7.Laengle T., Lueth T. (1994) Decentralized Control of Distributed Intelligent Robots and Subsystems. AIRTC Symp. on AI in Real-Time Control, Valencia, 447–452Google Scholar
- 8.Smith R. G., Davis P. (1981) Frameworks for Cooperation in Distributed Problem Solving. IEEE Trans. on SMC, 11(1), 61–70Google Scholar
- 11.Tirumalai A., Brian B., Jain R. (1995) Evidential Reasoning for Building Environment Maps. IEEE Trans. on SMC, 25(1), 10–20Google Scholar