Information and Multi-Sensor Coordination

Greg Hager, Hugh F. Durrant-Whyte

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

The control and integration of distributed, multi-sensor perceptual systems is a complex and challenging problem. The observations or opinions of different sensors are often disparate, incomparable and are usually only partial views. Sensor information is inherently uncertain, and in addition the individual sensors may themselves be in error with respect to the system as a whole. The successful operation of a multi-sensor system must account for this uncertainty and provide for the aggregation of disparate information in an intelligent and robust manner. We consider the sensors of a multi-sensor system to be members or agents of a team, able to offer opinions and bargain in group decisions. We will analyze the coordination and control of this structure using a theory of team decision-making. We present some new analytic results on multi-sensor aggregation and detail a simulation which we use to investigate our ideas. This simulation provides a basis for the analysis of complex agent structures cooperating in the presence of uncertainty. The results of this study are discussed with reference to multi-sensor robot systems, distributed AI and decision making under uncertainty.

Original languageEnglish (US)
Title of host publicationMachine Intelligence and Pattern Recognition
Pages381-394
Number of pages14
EditionC
DOIs
StatePublished - Jan 1 1988

Publication series

NameMachine Intelligence and Pattern Recognition
NumberC
Volume5
ISSN (Print)0923-0459

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Artificial Intelligence

Fingerprint Dive into the research topics of 'Information and Multi-Sensor Coordination'. Together they form a unique fingerprint.

Cite this