Issues of Perceptual Anchoring in Ubiquitous Robotic Systems

K. LeBlanc and A. Saffiotti

In ubiquitous robotic systems, robots are immersed in an environment containing an abundance of sensors, actuators and smart objects. In such a system, a robot can acquire information about an object from many different sources, possibly including the object itself. While this richness of information opens a new landscape of opportunities, it also adds the fundamental challenge of how to coordinate and integrate all the different types of information which are available. In this paper, we define a general computational framework to address this problem. Our framework is based on an extension of the concept of single-robot perceptual anchoring to the multi-robot case, and it can be applied to any ubiquitous robotics system. To make the framework more tangible, we apply it to a specific type of ubiquitous robotic system, called Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology. We also describe a sample implementation based on fuzzy logic, and present some illustrative experiments.
K. LeBlanc and A. Saffiotti. Issues of Perceptual Anchoring in Ubiquitous Robotic Systems. Proc. of the ICRA-07 Workshop on Omniscient Space. Rome, Italy, 2007.
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