Dynamic sensor selection for robotic systems

A new technique for selecting, in real time, diierent sensing techniques for a robotic system has been developed. The proposed method is based on stochastic dynamic programming, which provides an eeective solution to multi-stage decision problems. At each stage in the decision process a sensor selection controller has the option of consulting a new process monitoring technique to improve the knowledge of the task or terminating the decision process without any further information gathering. The sensor selection controller has been successfully implemented for the real-time control of a planar robotic assembly task in a discrete event control framework. One of the monitoring methods used is based on Hidden Markov Models, where the average recognition rate was 87%. Larger recognition rates for the HMM method have been demonstrated by 4]. The rate of 87% was chosen to show the eeec-tiveness of the dynamic sensor selection method. The experiments show that the method performs better than any individual process monitor. A successful event recognition rate of 97% with an average CPU time of 0:38 seconds is achieved when two force monitors and one position monitor are available to the sensor selection controller.