Sensor fusion with spatial uncertainties in a holonic multirobot workcell

Mikko Sallinen; Tapio Heikkilä; Mika Rintala

doi:10.1109/ICSMC.2000.886055

Sensor fusion with spatial uncertainties in a holonic multirobot workcell

Mikko Sallinen, Tapio Heikkilä, Mika Rintala

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

4 Citations (Scopus)

Abstract

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 language	English
Title of host publication	Smc 2000 conference proceedings
Publisher	IEEE Institute of Electrical and Electronic Engineers
Pages	1428-1435
ISBN (Print)	0-7803-6583-6
DOIs	https://doi.org/10.1109/ICSMC.2000.886055
Publication status	Published - 2000
MoE publication type	A4 Article in a conference publication
Event	IEEE International Conference on Systems, Man and Cybernetics: Cybernetics Evolving to Systems, Humans, Organizations, and their Complex Interactions - Nashville, United States Duration: 8 Oct 2000 → 11 Oct 2000

Conference

Conference	IEEE International Conference on Systems, Man and Cybernetics
Country/Territory	United States
City	Nashville
Period	8/10/00 → 11/10/00

Keywords

sensor fusion
multi-robot system
spatial uncertainty
Bayesian estimation

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10.1109/ICSMC.2000.886055

Cite this

@inproceedings{bcb93febbf034c46bd38cf5b4b310bdf,

title = "Sensor fusion with spatial uncertainties in a holonic multirobot workcell",

abstract = "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.",

keywords = "sensor fusion, multi-robot system, spatial uncertainty, Bayesian estimation",

author = "Mikko Sallinen and Tapio Heikkil{\"a} and Mika Rintala",

note = "Project code: A7SU01204; IEEE International Conference on Systems, Man and Cybernetics : Cybernetics Evolving to Systems, Humans, Organizations, and their Complex Interactions ; Conference date: 08-10-2000 Through 11-10-2000",

year = "2000",

doi = "10.1109/ICSMC.2000.886055",

language = "English",

isbn = "0-7803-6583-6",

pages = "1428--1435",

booktitle = "Smc 2000 conference proceedings",

publisher = "IEEE Institute of Electrical and Electronic Engineers",

address = "United States",

}

Sallinen, M, Heikkilä, T & Rintala, M 2000, Sensor fusion with spatial uncertainties in a holonic multirobot workcell. in Smc 2000 conference proceedings. IEEE Institute of Electrical and Electronic Engineers, pp. 1428-1435, IEEE International Conference on Systems, Man and Cybernetics, Nashville, Texas, United States, 8/10/00. https://doi.org/10.1109/ICSMC.2000.886055

TY - GEN

T1 - Sensor fusion with spatial uncertainties in a holonic multirobot workcell

AU - Sallinen, Mikko

AU - Heikkilä, Tapio

AU - Rintala, Mika

N1 - Project code: A7SU01204

PY - 2000

Y1 - 2000

N2 - 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.

AB - 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.

KW - sensor fusion

KW - multi-robot system

KW - spatial uncertainty

KW - Bayesian estimation

U2 - 10.1109/ICSMC.2000.886055

DO - 10.1109/ICSMC.2000.886055

M3 - Conference article in proceedings

SN - 0-7803-6583-6

SP - 1428

EP - 1435

BT - Smc 2000 conference proceedings

PB - IEEE Institute of Electrical and Electronic Engineers

T2 - IEEE International Conference on Systems, Man and Cybernetics

Y2 - 8 October 2000 through 11 October 2000

ER -

Sensor fusion with spatial uncertainties in a holonic multirobot workcell

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