Experiments and Results in Multimodal, Distributed, Robotic Perception

Distributed architecture for cooperative perception processes is described. This is called henceforth a perception net (PN). The case of multiple, autonomous, mobile robots navigating with reference to the multi-form world-model is considered. Information sharing and communication issues are pointed out. Description of the experimental implementation made of two mobile platforms is accompanied with the demonstration of results, namely the maps, which have been obtained by fusing the measurements with the a priori knowledge within the logical framework of the PN. The application have been based on the QNX network with Ethernet links.