Sensor Fusion in the Epistemic Situation Calculus. Schwering, C., Niemueller, T., Lakemeyer, G., Abdo, N., & Burgard, W. In Proceedings of the Ninth International Cognitive Robotics Workshop (CogRob-2014), Prague, Czech Republic, 2014.
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Paper Paper abstract bibtex 1 download
Paper Paper abstract bibtex 1 download Robot sensors are usually subject to error. Since in many practical scenarios a probabilistic error model is not available, sen- sor readings are often dealt with in a hard-coded, heuristic fashion. In this paper, we propose a logic to address the problem from a KR perspective. In this logic the epistemic effect of sensing actions is deferred to so-called fusion actions, which may resolve discrepan- cies and inconsistencies of recent sensing results. Moreover, a local closed world assumption can be applied dynamically. When needed, this assumption can be revoked and fusions can be undone using a form of forgetting.
@inproceedings {Schwering:CogRob-2014,
title = {Sensor Fusion in the Epistemic Situation Calculus},
author = {Christoph Schwering and Tim Niemueller and Lakemeyer, Gerhard and Nichola Abdo and Wolfram Burgard},
booktitle = {Proceedings of the Ninth International Cognitive Robotics Workshop (CogRob-2014)},
year = {2014},
address = {Prague, Czech Republic},
abstract = {Robot sensors are usually subject to error. Since in
many practical scenarios a probabilistic error model
is not available, sen- sor readings are often dealt
with in a hard-coded, heuristic fashion. In this
paper, we propose a logic to address the problem
from a KR perspective. In this logic the epistemic
effect of sensing actions is deferred to so-called
fusion actions, which may resolve discrepan- cies
and inconsistencies of recent sensing
results. Moreover, a local closed world assumption
can be applied dynamically. When needed, this
assumption can be revoked and fusions can be undone
using a form of forgetting.},
url = {http://kbsg.rwth-aachen.de/~schwering/cogrob-2014.pdf},
url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/SchweringEtAl2014.pdf},
}Downloads: 1
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