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The Multiple Dimensions of Action-Oriented Robotic Perception: Fission, Fusion, and Fashion

By Ronald C. Arkin

Abstract

Action-oriented perception provides an alternative to traditional high-level image understanding for the roboticist. By channeling sensory perception directly to motor behaviors (sensor fission) without mediating global representations rapid response is ensured. Forcing sensor fusion to be conducted within the context of motor needs reduces computational demand and enhances parallelism. Utilizing the correct visual algorithm to support motor action at the correct time (temporal coordination or sensor fashion) provides robust performance over wide ranges of activity. In this paper we describe the philosophy of action-oriented perception for the roboticist and discuss the different dimensions in which it may be effectively used

Topics: Action-oriented perception, Reactive control, Robotic control, Sensor fusion, Sensory channeling, Temporal coordination
Publisher: Georgia Institute of Technology
Year: 1991
OAI identifier: oai:smartech.gatech.edu:1853/22450
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