Allocating Sensing Resources with Incomplete Inforrnation

Robin R. Murphy

This paper presents work in progress on allocating sensing resources for an autonomous mobile robot the presence of incomplete information. It provides a taxonomy of the types of contention for sensing resources in mobile robots and the categories of available information. Our assumptions about the structure behaviors and the characterization of the scheduling problem suggest an iterative repair strategy, where initial schedule is formed from each behavior’s sensing requests and alternative logical sensors are substituted if needed.


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