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Information Fusion for Autonomous Robotic Weeding
Högskolan i Skövde, Institutionen för teknik och samhälle.
Högskolan i Skövde, Institutionen för teknik och samhälle.
Högskolan i Skövde, Institutionen för kommunikation och information. Högskolan i Skövde, Forskningscentrum för Informationsteknologi.
2009 (engelsk)Inngår i: INFORMATIK 2009: Im Focus das Leben / [ed] Stefan Fischer, Erik Maehle, Rüdiger Reischuk, Köllen Druck + Verlag GmbH , 2009, s. 2461-2473Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Information fusion has a potential applicability to a multitude of differentapplications. Still, the JDL model is mostly used to describe defense applications.This paper describes the information fusion process for a robot removing weed ina field. We analyze the robotic system by relating it to the JDL model functions.The civilian application we consider here has some properties which differ from thetypical defense applications: (1) indifferent environment and (2) a predictable andstructured process to achieve its objectives. As a consequence, situation estimatestend to deal with internal properties of the robot and its mission progress (throughmission state transition) rather than external entities and their relations. Nevertheless, the JDL model appears useful for describing the fusion activities of the weeding robot system. We provide an example of how state transitions may be detected and exploited using information fusion and report on some initial results. An additional finding is that process refinement for this type of application can be expressed in terms of a finite state machine.

sted, utgiver, år, opplag, sider
Köllen Druck + Verlag GmbH , 2009. s. 2461-2473
Serie
Lecture Notes in Informatics, ISSN 1617-5468 ; Vol. P-154
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URN: urn:nbn:se:his:diva-3525Scopus ID: 2-s2.0-84874333160ISBN: 978-3-88579-248-2 (tryckt)OAI: oai:DiVA.org:his-3525DiVA, id: diva2:280187
Konferanse
39th Jahrestagung der Gesellschaft fur Informatik e.V. (GI): Im Focus das Leben, INFORMATIK 2009. 39th Annual Meeting of the German Informatics Society (GI): Focus on Life, INFORMATIK 2009, Lübeck, Germany, 28 September 2009 through 2 October 2009
Tilgjengelig fra: 2009-12-08 Laget: 2009-12-08 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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Scopushttp://subs.emis.de/LNI/Proceedings/Proceedings154/gi-proc-154-215.pdf

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