Behavioral Sensor Fusion

Behavioral Sensor Fusion

Sensor fusion is a broad term used SENSOR FUSION for any process that combines information
from multiple sensors into a single percept. Themotivation for sensor fusion
REDUNDANT stems from three basic combinations of sensors: redundant (or competing),
COMPLEMENTARY complementary, and coordinated. Although many researchers treat sensor fu-
COORDINATED sion as a means of constructing a global world model in a hierarchical or deliberative
system, sensor fusion can be incorporated into behaviors through
sensor fission, action-oriented sensor fusion, and sensor fashion.
In some cases multiple sensors are used when a particular sensor is too
imprecise or noisy to give reliable data. Adding a second sensor can give
another “vote” for the percept. When a sensor leads the robot to believe that
FALSE POSITIVE a percept is present, but it is not, the error is called a false positive. The robot
has made a positive identification of percept, but it was false. Likewise, an
FALSE NEGATIVE error where the robot misses a percept is known as a false negative. Sensors