## Logic-Based Algorithms for Data Interpretation With Application to Robotics (1998)

Citations: | 1 - 1 self |

### 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}

}

### OpenURL

### 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...