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Experiments and Results in Multi-modal, Distributed, Robotic Perception

  • Andrzej Kasiński
  • Piotr Skrzypczyński
Chapter

Abstract

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.

Keywords

Mobile Robot Scanner Data Occupancy Grid Mobile Robot Navigation Logical Sensor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Tokyo 2000

Authors and Affiliations

  • Andrzej Kasiński
    • 1
  • Piotr Skrzypczyński
    • 1
  1. 1.Department of Control, Robotics, and Computer ScienceTechnical University of PoznańPoznańPoland

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