A sensory network for perception-based robotics using neural networks

This paper discusses fault tolerance in perception-based robotics from the viewpoint of ecological psychology. A prediction-based sensory network using neural networks is proposed for detecting a fault in sensing systems. Furthermore, transformation matrix is applied for extracting perceptual information from the sensory inputs that might include fault inputs owing to breakdown. We apply the proposed method to a mobile robot. Computer simulations show the proposed method can detect the fault of sensors and can extract perceptual information used for decision making.