2026-05-30T17:21:58Zhttps://riuma.uma.es/rest/oai/requestoai:riuma.uma.es:10630/189712026-02-03T12:09:25Zcom_10630_2254col_10630_37959
RIUMA. Repositorio Institucional de la Universidad de Málaga
author
Castellano Quero, Manuel
author
Fernández-Madrigal, Juan Antonio
author
García-Cerezo, Alfonso José
2019-12-03T10:46:01Z
2019-12-03T10:46:01Z
2019
Castellano-Quero M., Fernández-Madrigal JA., García-Cerezo A.J. (2020) Integrating Multiple Sources of Knowledge for the Intelligent Detection of Anomalous Sensory Data in a Mobile Robot. In: Silva M., Luís Lima J., Reis L., Sanfeliu A., Tardioli D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1093. Springer
https://hdl.handle.net/10630/18971
For service robots to expand in everyday scenarios they must be able to identify and manage abnormal situations intelligently. In this paper we work at a basic sensor level, by dealing with raw data produced by diverse devices subjected to some negative circumstances such as adverse environmental conditions or difficult to perceive objects. We have implemented a probabilistic Bayesian inference process for deducing whether the sensors are working nominally or not, which abnormal situation occurs, and even to correct their data. Our inference system works by integrating in a rigorous and homogeneous mathematical framework multiple sources and modalities of knowledge: human expert, external information systems, application-specific and temporal. The results on a real service robot navigating in a structured mixed indoor-outdoor environment demonstrate good detection capabilities and set a promising basis for improving robustness and safety in many common service tasks.
eng
Robótica
Integrating Multiple Sources of Knowledge for the Intelligent Detection of Anomalous Sensory Data in a Mobile Robot
conference output
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URL
https://riuma.uma.es/bitstreams/a58df108-c164-42ff-86c8-a80e043b66a5/download
File
MD5
5369cdb7651b8dd04ab843076e3d214f
2652486
application/pdf
Robot_2019_cameraReady.pdf