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Proceedings Paper

Task Directed Sensing
Author(s): R. James Firby
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Paper Abstract

High level robot control research must confront the limitations imposed by real sensors if robots are to be controlled effectively in the real world. In particular, sensor limitations make it impossible to maintain a complete, detailed world model of the situation surrounding the robot. To address the problems involved in planning with the resulting incomplete and uncertain world models, traditional robot control architectures must be altered significantly. Task directed sensing and control is suggested as a way of coping with world model limitations by focusing sensing and analysis resources on only those parts of the world relevant to the robot's active goals. The RAP adaptive execution system [9] is used as an example of a control architecture designed to deploy sensing resources in this way to accomplish both action and knowledge goals.

Paper Details

Date Published: 1 March 1990
PDF: 10 pages
Proc. SPIE 1198, Sensor Fusion II: Human and Machine Strategies, (1 March 1990); doi: 10.1117/12.970002
Show Author Affiliations
R. James Firby, Jet Propulsion Laboratory (United States)


Published in SPIE Proceedings Vol. 1198:
Sensor Fusion II: Human and Machine Strategies
Paul S. Schenker, Editor(s)

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