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A value measure for data to control sensing and motion processes

The use of multiple sensing modalities for the autonomous operation and navigation of mobile robots is demonstrated through many vehicles, including the HelpMate mobile courier. We propose a "value measure" for the various resources of such a system, so that the control of sensing processes (and eventually motion processes) can be optimized and continuously calibrated. Value quantity (varying with quality) and task-specific utility can be compared with costs in a higher-level planner of a hierarchical system providing the most efficient use of electrical and computing power. This approach can benefit by using an object-oriented database architecture to enhance task-oriented-focused sensing thereby allowing "closed-loop sensing", that would be guided by a priori information driving a directed-sensing process; it will eventually also be related to motion control, as dictated by the system's current task/plan(s).