Sensor fusion with spatial uncertainties in a holonic multirobot workcell

Mikko Sallinen, Tapio Heikkilä, Mika Rintala

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

    4 Citations (Scopus)


    A holonic multi-robot cell is such a cell specifying a system based on autonomous and cooperative units called holons.This paper presents a method using Bayesian estimation to model uncertainties in a multi-robot cell.When using the sensor fusion with several robots and combining all the information together gives new possibilities of planning the sensing operations, e.g. to minimize the size of locating measurements.If the robots and workobject are accurately modelled (noise model and surface forms) an iterative planner can be used to plan a minimal task sequence for the treatment of the workobject. Further analysis of the remaining uncertainties is based on observing the direction of the eigenvectors and the respect eigenvalues of the error covariance matrix.
    Original languageEnglish
    Title of host publicationSmc 2000 conference proceedings
    PublisherIEEE Institute of Electrical and Electronic Engineers
    ISBN (Print)0-7803-6583-6
    Publication statusPublished - 2000
    MoE publication typeA4 Article in a conference publication
    EventIEEE International Conference on Systems, Man and Cybernetics: Cybernetics Evolving to Systems, Humans, Organizations, and their Complex Interactions - Nashville, United States
    Duration: 8 Oct 200011 Oct 2000


    ConferenceIEEE International Conference on Systems, Man and Cybernetics
    Country/TerritoryUnited States


    • sensor fusion
    • multi-robot system
    • spatial uncertainty
    • Bayesian estimation


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