A Syntactical Approach to Data Fusion

An extended version of the Logic of Possibility is proposed as the formal basis for a data-fusion technique. The basic concepts underlying the approach are summarized and discussed. The method has been applied to a real-world problem of noisy sensor data fusion: the position estimation of an autonomous mobile robot navigating in an approximately and partially known office environment. Several test runs have evidenced the adequacy of the approach in interpreting and disambiguating the information coming from two independent perceptual sources, in combination with abstract common-sense knowledge.