Pii: S0031-3203(01)00106-6

This article addresses the use of evidential reasoning and majority voting in multi-sensor decision making for target di#erentiation using sonar sensors. Classi/cation of target primitives which constitute the basic building blocks of typical surfaces in uncluttered robot environments has been considered. Multiple sonar sensors placed at geographically di#erent sensing sites make decisions about the target type based on their measurement patterns. Their decisions are combined to reach a group decision through Dempster–Shafer evidential reasoning and majority voting. The sensing nodes view the targets at di#erent ranges and angles so that they have di#erent degrees of reliability. Proper accounting for these di#erent reliabilities has the potential to improve decision making compared to simple uniform treatment of the sensors. Consistency problems arising in majority voting are addressed with a view to achieving high classi/cation performance. This is done by introducing preference ordering among the possible target types and assigning reliability measures (which essentially serve as weights) to each decision-making node based on the target range and azimuth estimates it makes and the belief values it assigns to possible target types. The results bring substantial improvement over evidential reasoning and simple majority voting by reducing the target misclassi/cation rate. ? 2002 Pattern Recognition Society. Published by Elsevier Science Ltd. All rights reserved.