Segmentation of Scenes in Exploratory Mode.
Final rept. 1 Oct 91-30 Sep 92,
PENNSYLVANIA UNIV PHILADELPHIA DEPT OF COMPUTER AND INFORMATION SCIENCE
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GRASP Laboratory research combines Active Perception and Robotics to produce intelligent devices capable of performing sophisticated tasks. This research specifically concentrates on multi-spectral image processing, 3-D shape identification, decision making and robot actuation. Perception via manipulation is combined with information obtained from a variety of sensors to establish one or more features or properties of an unstructured environment. This links exploration of an unknown environment by visual sensing, range measurement, manipulation and physical probing. It is a direct application of our theoretical work in robust multisensor fusion and techniques for integrating data from multiple modalities. One of the primary objectives of this research is to investigate coordination and communication of multi-agent systems. In particular, multiple agents explore and adapt to their surroundings and organize and configure themselves to perform required tasks with possible assistance of human agents.