Task-Directed Sensor Fusion and Planning: A Computational Approach

1 Introduction.- 1.1 A Model for Information Gathering.- 1.2 A Strategy for Realizing Information Gathering.- 1.3 Organizations for Information Gathering.- 1.4 An Overview of this Book.- 1.5 Literature.- 2 Modeling Sensors.- 2.1 Modeling Sensing Geometry.- 2.2 Modeling Sensor Observation Uncertainty.- 2.3 Additional Modeling Considerations.- 2.4 An Example System.- 2.5 Discussion.- 2.6 Literature.- 3 Task Modeling and Decision Making.- 3.1 Task Modeling.- 3.2 Decision Theory.- 3.3 Discussion.- 3.4 Literature.- 4 Mean-Square Estimation.- 4.1 Derivation of Mean Square Estimation Techniques.- 4.2 Robustness to System Variation.- 4.3 Robust Rules for Nonlinear Systems.- 4.4 Additional Comments On Moment-Based Representations.- 4.5 Discussion.- 4.6 Literature.- 5 Grid-Based Probability Density Methods.- 5.1 Grid-Based Probability Density Updating.- 5.2 Estimation and Payoff Computation.- 5.3 Robustness.- 5.4 Error Analysis.- 5.5 Simulation Evaluation.- 5.6 Extensions.- 5.7 Discussion.- 5.8 Literature.- 6 Choosing Viewpoints and Features.- 6.1 Describing the Sensor Action Space.- 6.2 Implementing Sensor Planning.- 6.3 Simulation Analysis of Sensor Planning.- 6.4 Discussion and Extensions.- 6.5 Literature.- 7 Towards a Task-Level Programming Environment.- 7.1 Sensor Fusion.- 7.2 Task Specification.- 7.3 Observation Planning.- 7.4 Summary and Future Development.- 7.5 Literature.- 8 An Experimental System.- 8.1 Implementation Description.- 8.2 Experimental Results.- 8.3 Discussion.- 9 Future Extensions.- 9.1 System Organization.- 9.2 Information Gathering with Multiple Sensors.- 9.3 The Model Selection Problem.- 9.4 Sensor Fusion and Artificial Intelligence.- 9.5 Summary.- A Review of Probability.- A.1 Basic Probability.- A.2 Conditional Probability.- A.3 Expectations.- A.4 Transforming Probability.- A.5 Convergence.- B Review of Methods for Estimation.- B.1 Stochastic Approximation.- B.2 Least Squares Methods.- B.3 Maximum Likelihood Method.- B.4 Maximum A Posteriori Probability.- B.5 Decision Theory.- B.6 Game Theory.- B.7 ?-maximin Game Theory.- C System Hardware.- References.- Glossary of Mathematical Notation.- Glossary of Symbols.