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Automatic goal allocation for a planetary rover with DSmT

Vasile, M. and Ceriotti, M. (2009) Automatic goal allocation for a planetary rover with DSmT. In: Advances and Applications of DSmT for Information Fusion (Collected Works). American Research Press, FIZ Karlsruhe GmbH, pp. 387-409. ISBN 978-1-59973-073-8

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    Abstract

    In this chapter, we propose an approach for assigning aninterest level to the goals of a planetary rover. Assigning an interest level to goals, allows the rover to autonomously transform and reallocate the goals. The interest level is defined by data-fusing payload and navigation information. The fusion yields an 'interest map',that quantifies the level of interest of each area around the rover. In this way the planner can choose the most interesting scientific objectives to be analysed, with limited human intervention, and reallocates its goals autonomously. The Dezert-Smarandache Theory of Plausible and Paradoxical Reasoning was used for information fusion: this theory allows dealing with vague and conflicting data. In particular, it allows us to directly model the behaviour of the scientists that have to evaluate the relevance of a particular set of goals. This chaptershows an application of the proposed approach to the generation of a reliable interest map.

    Item type: Book Section
    ID code: 20154
    Keywords: planetary rover, dezert-smarandache plausible reasoning, paradoxical reasoning, information fusion, interest map, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics, Mechanical Engineering, Aerospace Engineering, Control and Systems Engineering, Computational Mechanics
    Subjects: Technology > Mechanical engineering and machinery
    Technology > Motor vehicles. Aeronautics. Astronautics
    Department: Faculty of Engineering > Mechanical and Aerospace Engineering
    Related URLs:
    Depositing user: Ms Katrina May
    Date Deposited: 01 Jun 2010 15:13
    Last modified: 06 Sep 2014 20:15
    URI: http://strathprints.strath.ac.uk/id/eprint/20154

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