An Intelligent Mult-Sensor Fusion Architecture for Autonomous Decision Making

提案标题：用于自主的智能多传感器融合体系结构PI名称：Devendra P.GargInstitution：Duke University建议编号：9911195决策项目摘要：这个小资助金探索研究(SGER)项目提出了一种创新和非传统的多传感器融合体系结构，应用于各种科学和工程系统，这些系统获取、处理和集成从多个知识来源收集的信息，并将这些信息用于关键决策。拟议的体系结构主要由于其两个重要属性而为此类系统的自主运行带来了关键的推动因素。首先，融合后的信息更加丰富，即它包含了以其他方式无法从每个单独作用的传感器获得的信息，从而使系统能够更准确地感知或测量其物理环境。其次，新的体系结构能够以自组织、自适应的方式有效地融合来自多个传感器的信息，使其能够在与环境交互的同时修改或控制自己的操作。该属性消除了事先具有关于传感器及其物理环境的详细和准确信息的需要。这种新的体系结构可以在非结构化和不确定的环境中得到有益的应用。除了开发合理的数学理论外，还设计了计算机模拟和实验室实验，并用于验证新体系结构的配置和性能。

Proposal Title: An Intelligent Multi-Sensor Fusion Architecture for AutonomousPI's Name: Devendra P. GargInstitution: Duke UniversityProposal Number: 9911195Decision Making Project Abstract:This Small Grant Exploratory Research (SGER) project proposes an innovative and unconventional multi-sensor fusion architecture, with applications to a variety of scientific and engineering systems that acquire, process, and integrate information gathered from multiple knowledge sources and use this information for critical decision making. The proposed architecture leads to a critical enabler for autonomous operation of such systems, primarily due to its two significant attributes. Firstly, the fused information is richer, i.e., it contains information that cannot be obtained otherwise from each individual sensor acting alone, and thereby enables the system to perceive or measure its physical environment more accurately. Secondly, the new architecture can efficiently fuse the information from multiple sensors in a self-organizing, adaptive fashion, which allows it to modify or control its own operation while interacting with its environment. This attribute eliminates the need for having, a priori, detailed and accurate information about the sensors, and of their physical environment. The new architecture can be gainfully employed in unstructured and uncertain environments. In addition to developing a sound mathematical theory, computer simulations and laboratory experiments are designed and used to validate the configuration and performance of the new architecture.