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oai:docta.ucm.es:20.500.14352/607322023-09-07T18:35:17Zcom_20.500.14352_14col_20.500.14352_21

00925njm 22002777a 4500 dc Besada Portas, Eva author López Orozco, José Antonio author Cruz García, Jesús Manuel de la author 2002-12-31 A multisensor fusion system that is usedfor estimating the location of a robot and the state of the objects around is presented. The whole fusion system has been implemented as a Dynamic Bayesian Networks (DBN) with the purpose of having a homogenous and formalized way of capturing the dependencies that exist between the robot location, the state of the environment, and all the sensorial data. At this stage of the research it consists of two independent DBNs, one for estimating the robot location and another for building an occupancy probabilistic map of the environment, which are the basis of a unified fusion system. The dependencies of the variables and information in the two DBN will be captured by a unique DBN constructed by adding arcs (and nodes if necessary) between the two DBN. The DBN implemented so far can be used in robots with different sets of sensors. 0-9721844-2-2 https://hdl.handle.net/20.500.14352/60732 http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1020900 http://ieeexplore.ieee.org http://www.isif.org/fusion/proceedings/fusion02CD/pdffiles/papers/T3D02.pdf Unified fusion system based on bayesian networks for autonomous mobile robots