Towards Camera-LIDAR Fusion-Based Terrain Modelling for Planetary Surfaces: Review and Analysis.

In recent decades, terrain modelling and reconstruction techniques have increased research interest in precise short and long distance autonomous navigation, localisation and mapping within field robotics. One of the most challenging applications is in relation to autonomous planetary exploration using mobile robots. Rovers deployed to explore extraterrestrial surfaces are required to perceive and model the environment with little or no intervention from the ground station.

A Framework for Hierarchical Perception-Action Learning Utilizing Fuzzy Reasoning.

Perception-action (P-A) learning is an approach to cognitive system building that seeks to reduce the complexity associated with conventional environment-representation/action-planning approaches. Instead, actions are directly mapped onto the perceptual transitions that they bring about, eliminating the need for intermediate representation and significantly reducing training requirements. We here set out a very general learning framework for cognitive systems in which online learning of the P-A mapping may be conducted within a symbolic processing context, so that complex contextual reasoning can influence the P-A mapping.