An Intelligent Mult-Sensor Fusion Architecture for Autonomous Decision Making

提案题目：一种用于自主驾驶的智能多传感器融合架构，作者姓名：Devendra P. garg机构：杜克大学提案编号：摘要：本小型探索性研究（SGER）项目提出了一种创新的、非常规的多传感器融合架构，可应用于各种科学和工程系统，从多个知识来源获取、处理和集成信息，并将这些信息用于关键决策。所提出的体系结构是此类系统自主操作的关键促成因素，主要是由于其两个重要属性。首先，融合后的信息更丰富，即包含了单个传感器单独行动无法获得的信息，从而使系统能够更准确地感知或测量其物理环境。其次，新架构能够以自组织、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身的操作。这个属性消除了先验地获得关于传感器及其物理环境的详细和准确信息的需要。新的体系结构可以有效地应用于非结构化和不确定的环境中。除了发展完善的数学理论外，还设计了计算机模拟和实验室实验来验证新体系结构的结构和性能。

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.