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Consensus Making Algorithms based on Invariants Perception for Cognitive Sharing in Multi-Robot

Authors:
Shodai Tomita
Kosuke Sekiyama
Toshio Fukuda

Keywords: cognitive sharing; multi-robot; consensus making

Abstract:
Visual recognition in multi-robot systems is afflicted with a peculiar problem that observations from different viewpoints present different perspectives. Moreover, a representation of the same target object is highly affected by the viewpoint or environmental condition. Hence, realizing cognitive sharing of the object among robots in an unconstructed environment has become challenging. To cope with this issue, we have proposed a Hierarchical Invariants Perception Model (HIPM) in which multiple representations; color, shape, geometric relation, are dynamically evaluated and selected by the robot. In this paper, we propose consensus-making algorithms to acquire viewpoint-invariant representations. Experimental results show the ability of cognitive sharing significantly improved by the proposed method.

Pages: 32 to 37

Copyright: Copyright (c) IARIA, 2014

Publication date: May 25, 2014

Published in: conference

ISSN: 2308-4197

ISBN: 978-1-61208-340-7

Location: Venice, Italy

Dates: from May 25, 2014 to May 29, 2014