Task Directed Sensing

R. James Firby

doi:10.1117/12.970002

1 March 1990 Task Directed Sensing

R. James Firby

Proceedings Volume 1198, Sensor Fusion II: Human and Machine Strategies; (1990) https://doi.org/10.1117/12.970002
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

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.

Citation Download Citation

R. James Firby "Task Directed Sensing", Proc. SPIE 1198, Sensor Fusion II: Human and Machine Strategies, (1 March 1990); https://doi.org/10.1117/12.970002

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available