Active sensor fusion for mobile robot exploration and navigation

In this paper we present a paradigm for active sensor fusion and feature integration for the purposes of exploration of a static environment, and subsequent navigation therein. We describe the feature grid representation of the environment which is extensible to a wide range of sensor modalities, allows eecient access of information, and supports inter-agent cooperation. In particular, we have developed a testbed with which we investigate the fusion of data from acoustic range sensors with data from a structured-light sensor capable of delineating object extent. The acoustic sensors are employed for primary detection and localization of an object, as well as for extraction of geometric features such as planar surfaces and corners. Once an object has been identiied, an active sensing strategy is invoked, causing the mobile robot to follow a trajectory which brings the object into view of the structured-light sensor. In this way, relatively accurate information can be accumulated regarding object position, extent and orientation.