“Structural Solution of Highly Redundant Sensing in Robotic Systems”
Authors: Jens G. Balchen and Fredrik Dessen,Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1990, Vol 11, No 1, pp. 3-11.
Keywords: Robots, sensory systems, redundancy
Abstract: Reasons for and problems concerning the integration of large number of sensors in robotic systems are discussed. These include data collection, coordination and integration by means of state estimation. The need for unified approaches in handling highly redundant sensory systems is stated and solutions suggested.
PDF (923 Kb)
DOI: 10.4173/mic.1990.1.1References:
[1] JAZWINSKI, A.H., (1970). Stochastic Processes and Filtering Theory, Academic Press, New York.
[2] MEHRA, R.K., PESCHON, J., (1971). An innovations approach to fault detection and diagnosis in dynamical systems, Automatica, 7, 637-640 doi:10.1016/0005-1098(71)90028-8
[3] MORAVEC, H.P., (1989). Sensor fusion in certainty grids for mobile robots, Sensor Devices and Systems for Robots. NATO ASI Series, Springer Verlag.
[4] PAUL, R.P., (1981). Robot Manipulators, MIT Press, Cambridge, MA.
[5] WILLSKY, A.S., (1976). A survey of design methods for failure detection in dynamic systems, Automatica, 12, 601-611 doi:10.1016/0005-1098(76)90041-8
BibTeX:
@article{MIC-1990-1-1,
title={{Structural Solution of Highly Redundant Sensing in Robotic Systems}},
author={Balchen, Jens G. and Dessen, Fredrik},
journal={Modeling, Identification and Control},
volume={11},
number={1},
pages={3--11},
year={1990},
doi={10.4173/mic.1990.1.1},
publisher={Norwegian Society of Automatic Control}
};