Sensor fusion in the epistemic situation calculus. Issue 5 (2nd September 2016)

• Record Type: Journal Article
• Authors: Schwering, Christoph; Niemueller, Tim; Lakemeyer, Gerhard; Abdo, Nichola; Burgard, Wolfram
• Is Part Of: Journal of experimental & theoretical artificial intelligence. Volume 28:Issue 5(2016)
• Page Start: 871
• Page End: 887
• Publication Date: 2016-09-02
• Subjects: Actions and knowledge -- epistemic situation calculus -- sensor fusion; Artificial intelligence -- Periodicals; 006.3
• DOI: 10.1080/0952813X.2016.1148075
• Languages: English
• ISSNs: 0952-813X

Abstract

Abstract : Robot sensors are usually subject to error. Since in many practical scenarios a probabilistic error model is not available, sensor readings are often dealt with in a hard-coded, heuristic fashion. In this paper, we propose a logic to address the problem from a KR perspective. In this logic, the epistemic effect of sensing actions is deferred to so-called fusion actions, which may resolve discrepancies and inconsistencies of recent sensing results. Moreover, a local closed-world assumption can be applied dynamically. When needed, this assumption can be revoked and fusions can be undone using a form of forgetting.