Sensor lattices

This paper addresses the sensing uncertainty associated with the many-to-one mapping from a physical state space onto a sensor observation space. By studying preimages of this mapping for each sensor, a notion of sensor dominance is introduced, which enables interchangeability of sensors and a clearer understanding of their tradeoffs. The notion of a sensor lattice is also introduced, in which all possible sensor models are arranged into a hierarchy that indicates their power and gives insights into the construction of filters over time and space. This provides a systematic way to compare and characterize information feedback in robotic systems, in terms of their level of ambiguity with regard to state estimation.

LaValle Steven M.

A4 Article in conference proceedings

12th International Workshop on Robot Motion and Control, RoMoCo 2019, July 8-10, 2019, Poznań University of Technology, Poznań, Poland : workshop proceedings

S. M. LaValle, "Sensor Lattices: Structures for Comparing Information Feedback," 2019 12th International Workshop on Robot Motion and Control (RoMoCo), Poznań, Poland, 2019, pp. 239-246,