Sensor lattices : structures for comparing information feedback

LaValle, Steven M. (2019-08-05)
 
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https://doi.org/10.1109/RoMoCo.2019.8787364

LaValle, Steven M.
Institute of Electrical and Electronics Engineers
05.08.2019

S. M. LaValle, "Sensor Lattices: Structures for Comparing Information Feedback," 2019 12th International Workshop on Robot Motion and Control (RoMoCo), Poznań, Poland, 2019, pp. 239-246, https://doi.org/10.1109/RoMoCo.2019.8787364

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doi:https://doi.org/10.1109/RoMoCo.2019.8787364
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https://urn.fi/URN:NBN:fi-fe2020042119519
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Abstract

This paper addresses the sensing uncertainty associated with the many-to-one mapping from a physical state space onto a sensor observation space. By studying preimages of this mapping for each sensor, a notion of sensor dominance is introduced, which enables interchangeability of sensors and a clearer understanding of their tradeoffs. The notion of a sensor lattice is also introduced, in which all possible sensor models are arranged into a hierarchy that indicates their power and gives insights into the construction of filters over time and space. This provides a systematic way to compare and characterize information feedback in robotic systems, in terms of their level of ambiguity with regard to state estimation.

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