An Approach for a Distributed World Model with QoS-Based Perception Algorithm Adaptation

Blumenthal, Sebastian; Hochgeschwender, Nico; Prassler, Erwin; Voos, Holger; Bruyninckx, Herman

Reference : An Approach for a Distributed World Model with QoS-Based Perception Algorithm Adaptation


	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Computer science
	To cite this reference:	http://hdl.handle.net/10993/24695

Title :	An Approach for a Distributed World Model with QoS-Based Perception Algorithm Adaptation
Language :	English
Author, co-author :	Blumenthal, Sebastian []
	Hochgeschwender, Nico []
	Prassler, Erwin []
	Voos, Holger [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
	Bruyninckx, Herman []
Publication date :	2015
Main document title :	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, Hamburg, Germany, 2015
Pages :	1806 - 1811
Peer reviewed :	Yes
On invitation :	No
Audience :	International
Event name :	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS
Event date :	Sept 28 - Oct 03, 2015
Event place (city) :	Hamburg
Event country :	Germany
Keywords :	[en] Robotics ; World Model ; Perception
Abstract :	[en] This paper presents a distributed world model that is able to adapt to changes in the Quality of Service (QoS) of the communication layer by online reconfiguration of perception algorithms. The approach consists of (a) a mechanism for storage, exchange and processing of world model data and (b) a feedback loop that incorporates reasoning techniques to adapt to QoS changes immediately. The latter introduces a Level of Detail (LoD) metric based on a spatial resolution in order to infer an upper bound for the amount of data that can be transmitted without violating an application specific transmission delay.
Target :	Researchers ; Professionals ; Students
Permalink :	http://hdl.handle.net/10993/24695

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