Sensor fusion for localization using possibility theory

The developments of a project in mobile robotics are described, in which two basic ideas are explored: the use of two cooperating robots to facilitate localization and therefore navigation, and the application of possibility theory to the treatment of uncertainty in multisensor data fusion. Experiments of localization in a topological map are performed, combining three sources of perceptual information. © 1999 Elsevier Science Ltd. All rights reserved.