Toward task-directed planning of cooperating sensors

Gerhard A. Grunwald, Gregory D. Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Recently, there has been increased emphasis on employing reactive actions in robot task planning. The principle reasons for this change are to increase the robustness of robot action by making them sensor controlled, and to accommodate dynamic, unpredictable environments. However, in many cases, supporting reactive mechanisms requires choosing sensor inputs for the reactive procedure. This paper addresses the issue of planning the sensor required to carry out a reactive robot program. A preliminary framework for planning is presented, and sensor planning is illustrated for the problem of replacing a mechanically attached plug in a space environment.

Original languageEnglish (US)
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
PublisherPubl by Int Soc for Optical Engineering
Number of pages12
ISBN (Print)0819410292
StatePublished - Jan 1 1993
Externally publishedYes
EventSensor Fusion V - Boston, MA, USA
Duration: Nov 15 1992Nov 17 1992

Publication series

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


OtherSensor Fusion V
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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