量子様式ロボット知覚モデルにおけるマルチセンサ統合
Multi-sensory Integration in a Quantum-Like Robot Perception Model
量子論に着想を得た知覚モデルを複数センサ入力に拡張し、センサ読み値から多次元世界表現を直接構築する手法を提案した。3次元ケーススタディで不確実性と信念度の定量化に有効であることを示した。
著者: Davide Lanza, Paolo Solinas, Fulvio Mastrogiovanni
分類: cs.RO, cs.AI
原文アブストラクト
Formalisms inspired by Quantum theory have been used in Cognitive Science for decades. Indeed, Quantum-Like (QL) approaches provide descriptive features that are inherently suitable for perception, cognition, and decision processing. A preliminary study on the feasibility of a QL robot perception model has been carried out for a robot with limited sensing capabilities. In this paper, we generalize such a model for multi-sensory inputs, creating a multidimensional world representation directly based on sensor readings. Given a 3-dimensional case study, we highlight how this model provides a compact and elegant representation, embodying features that are extremely useful for modeling uncertainty and decision. Moreover, the model enables to naturally define query operators to inspect any world state, which answers quantifies the robot's degree of belief on that state.
