Sensing under Uncertainty for Mobile Robots

  • Authors:

  • Tarek M. Sobh;Mohamed Dekhil;Alyosha A. Efros

  • Affiliations:

  • Department of Computer Science and Engineering, School of Science, Engineering and Technology, University of Bridgeport, Bridgeport, CT 06601, USA;Department of Computer Science and Engineering, School of Science, Engineering and Technology, University of Bridgeport, Bridgeport, CT 06601, USA;Department of Computer Science and Engineering, School of Science, Engineering and Technology, University of Bridgeport, Bridgeport, CT 06601, USA

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 1999

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Abstract

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.