Controlling sensory perception for indoor navigation

The problem of controlling sensory input and perception for use in mobile navigation is addressed in this paper. The proposed solution offers several advantages compared to existing methods in the literature. First, the proposed solution is based on a stochastic dynamic programming algorithm which guarantees cost-efficiency of the real-time sensory perception controller (SPC) by solving a constrained optimisation problem. Second, a new and unique discrete event model of mobile navigation is presented. The model is task-independent and can be used in a wide range of navigation problems. Third, the discrete events become a natural common representational format for the sensors, which further extends the applicability of the proposed solution. Fourth, the sensing aspect of discrete event systems has often been neglected in the literature. In this paper we present a unique approach to online discrete event identification.