High-Level Multisensor Integration

In this paper we describe an approach to high-level multisensor integration in the context of an autonomous mobile robot. Previous papers have described the development of the INRIA mobile robot subsystems: 1. sensor and actuator systems 2. distance and range analysis 3. feature extraction and segmentation 4. motion detection 5. uncertainty management, and 6. 3-D environment descriptions. We describe here an approach to: • the semantic analysis of the 3-D environment descriptions. This analysis is organized in terms of robot goals and behaviors. This is accomplished by the use of logical behaviors. Such an approach allows for active control of the sensors in acquiring information.