Rr. Murphy, DEMPSTER-SHAFER THEORY FOR SENSOR FUSION IN AUTONOMOUS MOBILE ROBOTS, IEEE transactions on robotics and automation, 14(2), 1998, pp. 197-206
This article discusses Dempster-Shafer (DS) theory in terms of its uti
lity for sensor fusion for autonomous mobile robots, It exploits two l
ittle used components of DS theory: the weight of conflict metric and
the enlargement of the frame of discernment, The weight of conflict is
used to measure the amount of consensus between different sensors, A
lack of consensus leads the robot to either compensate within certain
limits or investigate the problem further, adding robustness to the ro
bot's operation. Enlarging the frame of discernment allows a modular d
ecomposition of evidence, This decomposition offers the advantages of
perceptual abstraction, and permits expert knowledge about the domain
to be embedded in the frames of discernment, simplifying the construct
ion and maintenance of the knowledge base. Six experiments using this
Dempster-Shafer framework are presented, Data from four types of senso
r data were collected by a mobile robot and fused with the Sensor Fusi
on Effects (SFX) architecture.