A value measure for data to control sensing and motion processes
P. Andrew, L. Silverthorne, Harry E. Stephanou · 2002
The use of multiple sensing modalities for the autonomous operation and navigation of mobile robots is demonstrated through many vehicles, including the HelpMate mobile courier. We propose a "value measure" for the various resources of such a system, so that the control of sensing processes (and eventually motion processes) can be optimized and continuously calibrated. Value quantity (varying with quality) and task-specific utility can be compared with costs in a higher-level planner of a hierarchical system providing the most efficient use of electrical and computing power. This approach can benefit by using an object-oriented database architecture to enhance task-oriented-focused sensing thereby allowing "closed-loop sensing", that would be guided by a priori information driving a directed-sensing process; it will eventually also be related to motion control, as dictated by the system's current task/plan(s).