University of Oulu

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,

Sensor lattices : structures for comparing information feedback

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Author: LaValle, Steven M.1
Organizations: 1Center for Ubiquitous Computing, Faculty of Information Technology and Electrical Engineering, University of Oulu, Finland
Format: article
Version: accepted version
Access: open
Online Access: PDF Full Text (PDF, 0.2 MB)
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Language: English
Published: Institute of Electrical and Electronics Engineers, 2019
Publish Date: 2020-04-21


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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Series: International Workshop on Robot Motion and Control
ISSN: 2575-5536
ISSN-E: 2575-5579
ISSN-L: 2575-5536
ISBN: 978-1-7281-2975-4
ISBN Print: 978-1-7281-2976-1
Pages: 239 - 246
Article number: 8787364
DOI: 10.1109/RoMoCo.2019.8787364
Host publication: 12th International Workshop on Robot Motion and Control, RoMoCo 2019, July 8-10, 2019, Poznań University of Technology, Poznań, Poland : workshop proceedings
Conference: International Workshop on Robot Motion and Control
Type of Publication: A4 Article in conference proceedings
Field of Science: 213 Electronic, automation and communications engineering, electronics
Funding: This work was supported in part by NSF grants 0904501 (IIS Robotics) and 1035345 (Cyberphysical Systems), DARPA SToMP grant HR0011-05-1-0008, MURI/ONR grant N00014-09-1-1052.
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