Information-efficient design of robotic systems

Oded Maimon, Mark Last

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


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.

Original languageEnglish
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
PublisherPubl by Int Soc for Optical Engineering
Number of pages12
ISBN (Print)0819407488
StatePublished - 1 Jan 1992
Externally publishedYes
EventSensor Fusion IV: Control Paradigms and Data Structures - Boston, MA, USA
Duration: 12 Nov 199115 Nov 1991

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X


ConferenceSensor Fusion IV: Control Paradigms and Data Structures
CityBoston, MA, USA

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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