Identification of target primitives with multiple decision-making sonars using evidential reasoning

International Journal of Robotics Research

Volumn 17, Issue 6, 1998, Pages 598-623

  Ayrulu, Birsel ^a   Barshan, Billur ^a  

^a BILKENT UNIVERSITY   (Turkey)

Author keywords

[No Author keywords available]

Indexed keywords

ACOUSTIC WAVE REFLECTION; DECISION MAKING; NAVIGATION; ROBOTICS; SENSORS; SONAR;

THREE SENSING NODES;

ROBOTS;

EID: 0032097046     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/027836499801700602     Document Type: Article

References (34)

1. Ayrulu, B. 1996. Classification of target primitives with sonar using two nonparametric data fusion methods. Master's thesis, Department of Electrical and Electronics Engineering, Bilkent University, Ankara, Turkey.
2. Ayrulu, B., Barshan, B., and Utete, S. W. 1997 (April 20-25, Albuquerque, NM). Target identification with multiple logical sonars using evidential reasoning and simple majority voting. Proc. 1997 IEEE Int. Conf. on Robotics and Automation. New Jersey: IEEE, pp. 2063-2068.
3. Bar-Shalom, Y. (ed.) 1990. Multitarget-Multisensor Tracking. Norwood, MA: Artech House.
4. Barshan, B. 1991. A sonar-based mobile robot for bat-like prey capture. Ph.D. thesis, Department of Electrical Engineering, Yale University, New Haven, CT. (Available from University of Michigan Microfilms, order no. 9224325.)
5. Barshan, B. 1996 (April 22-28, Minneapolis, MN). Location and curvature estimation of spherical targets using a flexible sonar configuration. Proc. of the IEEE Int. Conf. on Robot. and Automat. IEEE, pp. 1218-1223.
6. Barshan, B., and Kuc, R. 1990. Differentiating sonar reflections from corners and planes by employing an intelligent sensor. IEEE Trans. Pattern Analysis and Machine Intell. 12(6):560-569.
7. Berger, J. O. 1988. Statistical Decision Theory and Bayesian Analysis. Berlin: Springer-Verlag.
8. Blackman, S. S., and Broida, T. J. 1990. Multiple sensor data association and fusion in aerospace applications. J. Robot. Sys. 7(3):445-485.
9. Borenstein, J., and Koren, Y. 1988. Obstacle avoidance with ultrasonic sensors. IEEE Trans. Robot. Automat. 4(2):213-218.
10. Bozma, Ö. I. 1992. A physical model-based approach to analysis of environments using sonar. Ph.D. thesis, Department of Electrical Engineering, Yale University, New Haven, CT.
11. Crowley, J. L. 1985. Navigation for an intelligent mobile robot. IEEE Trans. Robot. Automat. 1(1):31-41.
12. Hall, D. L. 1992. Mathematical Techniques in Multisensor Data Fusion. Norwood, MA: Artech House.
13. Kleeman, L., and Kuc, R. 1995. Mobile robot sonar for target localization and classification. Int. J. Robot. Res. 14(4):295-318.
14. Kuc, R. 1993. Three-dimensional tracking using qualitative bionic sonar. Robot. Autonomous Sys. 11(2):213-219.
15. Kuc, R., and Barshan, B. 1989 (May 14-19, Scottsdale, AZ). Navigating vehicles through an unstructured environment with sonar. Proc. IEEE Int. Conf. Robot. Automat. New Jersey: IEEE, pp. 1422-1427.
16. Kuc, R., and Siegel, M. W. 1987. Physically-based simulation model for acoustic sensor robot navigation. IEEE Trans. Pattern Analysis and Machine Intell. 9(6):766-778.
17. Kuc, R., and Viard, B. V. 1991. A physically based navigation strategy for sonar-guided vehicles. Int. J. Robot. Res. 10(2):75-87.
18. Leonard, J. J. 1990. Directed sonar sensing for mobile robot navigation. Ph.D. thesis, Department of Engineering Science, University of Oxford, Oxford, UK.
19. Leonard, J. J., and Durrant-Whyte, H. F. 1991. Mobile robot localization by tracking geometric beacons. IEEE Trans. Robot. Automat. 7(3):376-382.
20. Luo, R. C., and Lin, M. H. 1988 (April 24-29, Philadelphia, PA). Robot multi-sensor fusion and integration: Optimum estimation of fused sensor data. Proc. IEEE Int. Conf. on Robot, and Automat. New Jersey: IEEE, pp. 24-29.
21. Manyika, J., and Durrant-Whyte, H. F. 1994. Data Fusion and Sensor Management: A Decentralized Information-Theoretic Approach. New York: Ellis Horwood.
22. Morse, P. M., and Ingard, K. U. 1968. Theoretical Acoustics. New York: McGraw-Hill.
23. Murphy, R. R. 1993 (May 2-6, Atlanta, GA). Robust sensor fusion for teleoperations. Proc. IEEE Int. Conf. on Robot. and Automat. New Jersey: IEEE, pp. 572-577.
24. Murphy, R. R. 1996 (December 8-11, Washington, DC). Adaptive rule of combination for observations over time. Proc. IEEE/SICE/RSJ Int. Conf. on Multisensor Fusion and Integration for Intell. Sys. New Jersey: IEEE, pp. 125-131.
25. Nazlibilek, S., Erkmen, A., and Erkmen, I. 1993 (August, Chicago, IL). SENS-PERCEPTOR: Image-based evidence formation module as a logical sensor for robot hand preshaping. Proc. IEEE Int. Sym. on Intell. Control. New Jersey: IEEE, pp. 326-331.
26. Pagac, D., Nebot, E. M., and Durrant-Whyte, H. F. 1996 (April 22-28, Minneapolis, MN). An evidential approach to probabilistic map-building. Proc. 1996 IEEE Int. Conf. on Robot. and Automat. New Jersey: IEEE, pp. 745-750.
27. Panasonic Corp. 1989. Ultrasonic ceramic microphones. 12 Blanchard Road, Burlington, MA.
28. Pearl, J. 1988. Probabilistic Reasoning in Intelligent Systems: Networks of Plausible Inference. San Mateo, CA: Morgan Kaufmann.
29. Peremans, H., Audenaert, K., and Van Campenhout, J. M. 1993. A high-resolution sensor based on tri-aural percep-tion. IEEE Trans. Robot. Automat. 9(1):36-48.
30. Polaroid Corp. 1990. Ultrasonic components group. 119 Windsor St., Cambridge, MA.
31. Shafer, G. 1976. A Mathematical Theory of Evidence. Princeton, NJ: Princeton University Press.
32. Steinberg, A. N. 1987. (June, Naval Air Development Center, Warminster, PA). Threat management system for combat aircraft. Proc. of the Tri-Service Data Fusion Symposium, vol. 1, pp. 532-554.
33. Utete, S. W., Barshan, B., and Ayrulu, B. Forthcoming. Voting as validation in robot programming. Int. J. Robot. Res.
34. Zemanek, J. 1971. Beam behavior within the nearfield of a vibrating piston. J. Acoustical Soc. America 49(1/2):181-191.