Target identification with multiple logical sonars using evidential reasoning and simple majority voting

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dc.citation.epage2068en_US
dc.citation.spage2063en_US
dc.contributor.authorAyrulu, Birselen_US
dc.contributor.authorBarshan, Billuren_US
dc.contributor.authorUtete, S. W.en_US
dc.coverage.spatialAlbuquerque, New Mexico, USAen_US
dc.date.accessioned2016-02-08T11:59:54Zen_US
dc.date.available2016-02-08T11:59:54Zen_US
dc.date.issued1997en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.descriptionDate of Conference: 20-25 April 1997en_US
dc.descriptionConference Name: International Conference on Robotics and Automation, IEEE 1997en_US
dc.description.abstractIn this study, physical models are used to model reflections from target primitives commonly encountered in a mobile robot's environment. These targets are differentiated by employing a multi-transducer pulse/echo system which relies on both amplitude and time-of-flight data, allowing more robust differentiation. Target features are generated as being evidentially tied to degrees of belief which are subsequently fused by employing multiple logical sonars at different geographical sites. Feature data from multiple logical sensors are fused with Dempster-Shafer rule of combination to improve the performance of classification by reducing perception uncertainty. Dempster-Shafer fusion results are contrasted with the results of combination of sensor beliefs through simple majority vote. The method is verified by experiments with a real sonar system. The evidential approach employed here helps to overcome the vulnerability of the echo amplitude to noise and enables the modeling of non-parametric uncertainty in real time.en_US
dc.description.provenanceMade available in DSpace on 2016-02-08T11:59:54Z (GMT). No. of bitstreams: 1 bilkent-research-paper.pdf: 70227 bytes, checksum: 26e812c6f5156f83f0e77b261a471b5a (MD5) Previous issue date: 1997en
dc.identifier.doi10.1109/ROBOT.1997.619267en_US
dc.identifier.issn1050-4729en_US
dc.identifier.urihttp://hdl.handle.net/11693/27704
dc.language.isoEnglishen_US
dc.publisherIEEEen_US
dc.relation.isversionofhttps://doi.org/10.1109/ROBOT.1997.619267en_US
dc.source.titleProceedings of the International Conference on Robotics and Automation, IEEE 1997en_US
dc.subjectMathematical modelsen_US
dc.subjectSensor data fusionen_US
dc.subjectSonaren_US
dc.subjectDempster Shafer fusionen_US
dc.subjectTime of flight (TOF) dataen_US
dc.subjectMobile robotsen_US
dc.titleTarget identification with multiple logical sonars using evidential reasoning and simple majority votingen_US
dc.typeConference Paperen_US

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