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Figure 1 | ROBOMECH Journal

Figure 1

From: Consensus-Making Algorithms for Cognitive Sharing of Object in Multi-Robot Systems

Figure 1

Hierarchical Invariants Perception Model. The client robot describes different classes of representations from RGB-D data (Describing representations of the target). The client robot evaluates the ambiguity and stationarity and selects unique and stable representations (Calculating Representational Priority). The client robot selects a suitable combination of representations for identifying the target to construct a decision tree and sends it to the server robot. By comparing and adjusting representations in the decision tree through communication, the robots reach a consensus (i.e., they determine what representations can be shared). Finally, when the robots share the same decision tree, the target is identified (Sharing-viewpoint-invariant decision tree).

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