NDLI: A distributed architecture for active perception in autonomous robots

Content Provider	IEEE Xplore Digital Library
Author	Guinea, D. Sanchez, G. Bustos, P. Garcia-Alegre, M.
Copyright Year	1995
Description	Author affiliation: Inst. de Autom. Ind., CSIC, Madrid, Spain (Guinea, D.; Sanchez, G.; Bustos, P.; Garcia-Alegre, M.)
Abstract	Describes the developed architecture for sensor information integration in a mobile robot. Hardware and software modules work locally with sensors signals, distributing the fitness functions over a parallel processing scheme. This organization tries to overcome real time constraints when dealing a with dynamic system-environments. A distributed network of DS5000 Dallas microprocessors and T800 transputers assisted by several DSP's, is addressed for first stages of sensors signals accommodation and generation of low level survival behaviors. Human knowledge in transferred to the perception modules as fuzzy logic inferences located on each processor. A set of decision rules account for efficient decisions making using a small number of linguistic terms that condense rough sensor data by means of membership functions representation. System experience can be modulated with existing algorithms according with some pre-defined safety conditions.
Starting Page	1740
Ending Page	1745
File Size	859786
Page Count	6
File Format	PDF
ISBN	0780325591
DOI	10.1109/ICSMC.1995.538026
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-10-22
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer architecture Sensor phenomena and characterization Mobile robots Hardware Signal processing Parallel processing Real time systems Microprocessors Digital signal processing Signal generators
Content Type	Text
Resource Type	Article

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