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Workshops on Applications of Evolutionary Computation

EvoWorkshops 2003: Applications of Evolutionary Computing pp 357–367Cite as

Mobile Robot Sensor Fusion Using Flies

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Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2611))

Abstract

The “Fly algorithm” is a fast artificial evolution-based image processing technique. Previous work has shown how to process stereo image sequences and use the evolving population of “flies” as a continuously updated representation of the scene for obstacle avoidance in a mobile robot. In this paper, we show that it is possible to use several sensors providing independent information sources on the surrounding scene and the robot’s position, and fuse them through the introduction of corresponding additional terms into the fitness function. This sensor fusion technique keeps the main properties of the fly algorithm: asynchronous processing. no low-level image pre-processing or costly image segmentation, fast reaction to new events in the scene. Simulation test results are presented.

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Author information

Authors and Affiliations

  1. projet FRACTALES, INRIA, Domaine Voluceau BP 105, 78153, Le Chesnay cedex, France

    Amine M. Boumaza & Jean Louchet

  2. ENSTA, 32 Boulevard Victor, 75739, Paris cedex 15, France

    Jean Louchet

Authors
  1. Amine M. Boumaza
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  2. Jean Louchet
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Editor information

Editors and Affiliations

  1. Dept. of Computer Engineering, University of Parma, Parco Area delle Scienze 181/a, 43100, Parma, Italy

    Stefano Cagnoni

  2. Computing Laboratory, University of Kent, Canterbury, Kent, CT2 7NF, UK

    Colin G. Johnson

  3. Dept. of Information and Communications Technologies Faculty of Computer Science, University of A Coruña, A Coruña, CP 15071, Spain

    Juan J. Romero Cardalda

  4. Dept. of Mathematics and Computer Science, Free University of Amsterdam, de Boelelaan 1081a, 1081 HV, Amsterdam, The Netherlands

    Elena Marchiori

  5. Schol of Systems Engineering, University of Reading, PO Box 225, Whiteknights, Reading, RG6 6AY, UK

    David W. Corne

  6. AnimatLab, 8 rue du capitaine Scott, 75015, Paris, France

    Jean-Arcady Meyer  & Agnès Guillot  & 

  7. SAP AG, Neurottstrasse 16, 69190, Walldorf, Germany

    Jens Gottlieb

  8. Parallel Computing and Complex Systems Group, University of Leipzig, Augustusplatz 10/11, 04109, Leipzig, Germany

    Martin Middendorf

  9. Algorithms and Data Structures Group Institute of Computer Graphics, Vienna University of Technology, Favoritenstrasse 9-11/186, 1040, Vienna, Austria

    Günther R. Raidl

  10. School of Computing, Napier University, 219 Colinton Road, Edinburgh, EH14 1DJ, UK

    Emma Hart

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© 2003 Springer-Verlag Berlin Heidelberg

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Boumaza, A.M., Louchet, J. (2003). Mobile Robot Sensor Fusion Using Flies. In: Cagnoni, S., et al. Applications of Evolutionary Computing. EvoWorkshops 2003. Lecture Notes in Computer Science, vol 2611. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36605-9_33

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  • DOI: https://doi.org/10.1007/3-540-36605-9_33

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00976-4

  • Online ISBN: 978-3-540-36605-8

  • eBook Packages: Springer Book Archive

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