TY - GEN
T1 - Information-efficient design of robotic systems
AU - Maimon, Oded
AU - Last, Mark
PY - 1992/1/1
Y1 - 1992/1/1
N2 - One of the main problems in constructing a supervisory robot seems to be the excess of available real-time information. The trend is to make a robot obtaining data from a lot of sensors before it takes a decision. Multiplicity of sensors increases hardware costs and control software complexity. A robot usually needs only a small part of all available information for an efficient performance. The current work will demonstrate a new approach to design of information-efficient supervisory robots. The theory combines the basic concepts of discrete event control extended to stochastic systems with some ideas of information economics. A controlled system behavior is modeled as a sequence of uncontrolled events and robot's decisions. Decisions are based on events observed by robot, and each event needs a sensor to be observed. The model provides a formal statement of the sensors selection problem. A solution procedure of the stated problem will be demonstrated, and some applications of the method to different types of robotic control will be presented.
AB - One of the main problems in constructing a supervisory robot seems to be the excess of available real-time information. The trend is to make a robot obtaining data from a lot of sensors before it takes a decision. Multiplicity of sensors increases hardware costs and control software complexity. A robot usually needs only a small part of all available information for an efficient performance. The current work will demonstrate a new approach to design of information-efficient supervisory robots. The theory combines the basic concepts of discrete event control extended to stochastic systems with some ideas of information economics. A controlled system behavior is modeled as a sequence of uncontrolled events and robot's decisions. Decisions are based on events observed by robot, and each event needs a sensor to be observed. The model provides a formal statement of the sensors selection problem. A solution procedure of the stated problem will be demonstrated, and some applications of the method to different types of robotic control will be presented.
UR - http://www.scopus.com/inward/record.url?scp=0026745906&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0026745906
SN - 0819407488
T3 - Proceedings of SPIE - The International Society for Optical Engineering
SP - 153
EP - 164
BT - Proceedings of SPIE - The International Society for Optical Engineering
PB - Publ by Int Soc for Optical Engineering
T2 - Sensor Fusion IV: Control Paradigms and Data Structures
Y2 - 12 November 1991 through 15 November 1991
ER -