Noise, Non-Determinism and Spatial Uncertainty

Murray Shanahan


This paper presents a logical account of sensor data assimilation in a mobile robot, based on abduction. Unlike previous work, the present formulation handles sensor noise as well as motor noise. In addition, it incorporates two significant technical advances. The use of determining fluents to deal with non-determinism obviates the need for a special form of abduction, and the use of uncertain object boundaries alleviates a problem with multiple explanations.