Logic-Based Algorithms for Data Interpretation With Application to Robotics (1998)
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BibTeX
@TECHREPORT{Bison98logic-basedalgorithms,
author = {Paolo Bison and Gaetano Chemello and Claudio Sossai},
title = {Logic-Based Algorithms for Data Interpretation With Application to Robotics},
institution = {},
year = {1998}
}
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Abstract
We present a formal method, based on possibilistic logic, to fuse uncertain sensory information. The basic concepts underlying the approach are summarized and discussed. The method has been applied to a real-world problem of noisy sensor-data fusion: the position estimation of an autonomous mobile robot navigating in an approximately and partially known o#ce environment, using a topological map. Each place in the map is characterized by a set of logical formulae axiomatizing both abstract knowledge and uncertain information from the sensors. At each time instant during navigation, the necessity value for each place is calculated using a purely syntactical method, based on sequent calculus. Several test runs on a real robot have evidenced the adequacy of the approach in interpreting and disambiguating the information coming from independent perceptual sources, in combination with abstract knowledge. Keywords: Reasoning with Uncertainty, Possibilistic Logic, Sequent Calculus, Sensor Fus...
