Sensing Under Uncertainty for Mobile Robots

The final publication is available at www.springerlink.comIn this work we present a control strategy under uncertainty for mobile robot navigation. In particular, we implement a server-client model, where the server executes the commands and the clients run in parallel, each performing its tasks. Tolerance analysis is performed to incorporate sensing uncertainties into the proposed model. The sensory system is depicted with a framework that allows different levels of data representation, based on the robust modeling of the sensing uncertainties.http://link.springer.com/article/10.1023%2FA%3A100801722539

Sensing Under Uncertainty For Mobile Robots

In this work we present a control strategy under uncertainty for mobile robot navigation. In particular, we implement a server-client model, where the server executes the commands and the clients run in parallel, each performing its tasks. Tolerance analysis is performed to incorporate sensing uncertainties into the proposed model. The sensory system is depicted with a framework that allows different levels of data representation, based on the robust modeling of the sensing uncertainties. Keywords: Mobile Robots, Uncertainty Modeling, Distributed Control, Sensing. 1 Introduction In any closed-loop control system, sensors are used to provide the feedback information that represents the current status of the system and the environmental uncertainties. The main component in such systems is the transformation of sensor outputs to the decision space, then the computation of the error signals and the joint-level commands. For example, the sensor readings might be the current tool position,..