Noise, non-determinism and spatial uncertainty

Authors:
Murray Shanahan
Affiliations:
Department of Computer Science,, Queen Mary and Westfield College, London, England
Venue:
AAAI'97/IAAI'97 Proceedings of the fourteenth national conference on artificial intelligence and ninth conference on Innovative applications of artificial intelligence
Year:
1997

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Abstract

This paper presents a logical account of sensor data assimilation in a mobile robot, based on abduction. Unlike previous work, the present formulation handles sensor noise as well as motor noise. In addition, it incorporates two significant technical advances. The use of determining fluents to deal with nondeterminism obviates the need for a special form of abduction, and the use of uncertain object boundaries alleviates a problem with multiple explanations.