Summary: L. A. Gee and M. A. Abidi, "Multisensor Fusion for Decision-based Control Cues", Proceedings of SPIE on Signal Processing, Sensor Fusion,
and Target Recognition IX, Vol. 4052, pp. 249-257, Orlando, FL, April 2000.
In Signal Processing, Sensor Fusion, and Target Recognition IX, Ivan Kadar, Editor,
Proceedings of SPIE Vol. 4052 (2000) 0277-786X/00/$15.00
Figure 1. Specifications for the dismantlement activity
Figure 2. External specifications.
The intent is to suggest an alternative platform from the Robotics Research RRC2107 robot arm  due to the impractical
constraints of this particular stationary robot arm. In this way, a robot manipulator combined with a mobile base platform
allows for ease of mobility from one scenario to the next.
The details described in this paper suggest one method for refining the initial attempt to address the dismantlement problem.
Instead of focusing on the data acquisition scenario, the goal is to provide an information fusion framework to bound some of
the associated challenges with decision-based control.
The sensing module is required to be small in size and weight due to the restrictions of the robot arm. The hosted sensors
include: CCD camera, laser range finder, and a proximity sensor. The required tasks that are affiliated with the
dismantlement activity include:
1. Locating the position and orientation of a tool rack and its workspace