Sfx: An Architecture For Action-oriented Sensor Fusion

Murphy, Robin R.; Arkin, Ronald C.

doi:10.1109/iros.1992.594524

Cited by 29 publications

(14 citation statements)

References 13 publications

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“…RELATED WORK While many hybrid control architecture have been proposed in the course of the last two decades (e.g., AuRA [14], Atlantis [15], the SFX [16], 3T [17], Saphira [18], Task Control Architecture [19], and others), their design has remained a challenge when fast-working, highly responsive reactive layers are necessary (e.g., [20], [21]), largely because the two layers are so different in terms of their operational principles. Reactive layers, for example, typically keep state to a minimum, if state is kept at all [22].…”

Section: Experiments and Resultsmentioning

confidence: 99%

Finding and exploiting goal opportunities in real-time during plan execution

Schermerhorn

Benton

Scheutz

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Autonomous robots that operate in real-world domains face multiple challenges that make planning and goal selection difficult. Not only must planning and execution occur in real time, newly acquired knowledge can invalidate previous plans, and goals and their utilities can change during plan execution. However, these events can also provide opportunities, if the architecture is designed to react appropriately. We present here an architecture that integrates the SapaReplan planner with the DIARC robot architecture, allowing the architecture to react dynamically to changes in the robot's goal structures.

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Section: Experiments and Resultsmentioning

confidence: 99%

Finding and exploiting goal opportunities in real-time during plan execution

Schermerhorn

Benton

Scheutz

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Dempster-Shafer theory is used for sensor fusion at the symbol level in the Sensor Fusion Effects (SFX) architecture [34], [36]. SFX is a reusable generic control scheme for intelligent sensor fusion, targeted for use by autonomous mobile robots operating in unknown or partially known environments.…”

Section: An Example: Sfxmentioning

confidence: 99%

Dempster-Shafer theory for sensor fusion in autonomous mobile robots

Murphy

1998

IEEE Trans. Robot. Automat.

Self Cite

184

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This article discusses Dempster-Shafer (DS) theory in terms of its utility for sensor fusion for autonomous mobile robots. It exploits two little used components of DS theory: the weight of conflict metric and the enlargement of the frame of discernment. The weight of conflict is used to measure the amount of consensus between different sensors. A lack of consensus leads the robot to either compensate within certain limits or investigate the problem further, adding robustness to the robot's operation. Enlarging the frame of discernment allows a modular decomposition of evidence. This decomposition offers the advantages of perceptual abstraction, and permits expert knowledge about the domain to be embedded in the frames of discernment, simplifying the construction and maintenance of the knowledge base. Six experiments using this Dempster-Shafer framework are presented. Data from four types of sensor data were collected by a mobile robot and fused with the Sensor Fusion Effects (SFX) architecture.

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“…Perceptual schem as have been expanded to incorporate specialized actionoriented sensor fusion methods (M urphy and Arkin 1992). Recognizing that in many cases multiple sensor sources are better than individual ones, specialized strategies were developed to fuse data together within the context of actionoriented perception.…”

mentioning

confidence: 99%

AuRA: principles and practice in review

Arkin¹,

Balch²

1997

Journal of Experimental & Theoretical Artificial Intelligen

224

115

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This paper reviews key concepts of the Autonom ous Robot Architecture (AuRA). Its structure, strengths, and roots in biology are presented. AuRA is a hybrid deliberative} reactive robotic architecture that has been developed and re® ned over the past decade. In this article, particular focus is placed on the reactive behavioural com ponent of this hybrid architecture. Various real world robots that have been im plem ented using this architectural paradigm are discussed, including a case study of a multiagent robotic team that com peted and won the 1994 A AAI M obile Robot Competition.

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Sfx: An Architecture For Action-oriented Sensor Fusion

Cited by 29 publications

References 13 publications

Finding and exploiting goal opportunities in real-time during plan execution

Finding and exploiting goal opportunities in real-time during plan execution

Dempster-Shafer theory for sensor fusion in autonomous mobile robots

AuRA: principles and practice in review

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