Planning sensing strategies in a robot work cell with multi-sensor capabilities

The authors present an approach to planning sensing strategies in a robot workcell with multisensor capabilities. The system first forms an initial set of object hypotheses by using one of the sensors. Subsequently, the system reasons over different possibilities for selecting the next sensing operation, this being done in a manner so as to maximally disambiguate the initial set of hypotheses. The 'next sensing operation' is characterized by both the choice of the sensor and the viewpoint to be used. Aspect graph representation of objects plays a central role in the selection of the viewpoint, these representations being derived automatically by a solid modelling program.< >