Abstract: A robot includes a driver; a camera; and a processor configured to: during an interaction session in which a first user identified in an image obtained through the camera is set as an interaction subject, perform an operation corresponding to a user command received from the first user, and determine whether interruption by a second user identified in an image obtained through the camera occurs, and based on determining that the interruption by the second user occurred, control the driver such that the robot performs a feedback motion for the interruption.

Abstract: An information processing device including: an information obtaining unit that obtains environmental information from sensor information obtained by a sensor with which an autonomous moving body is provided; an extraction unit that extracts, from the environmental information, specific environmental information to be saved; and an action control unit that controls an action of the autonomous moving body so as to output the specific environmental information to the outside.

Abstract: Methods, apparatus, and computer-readable media for determining and utilizing corrections to robot actions. Some implementations are directed to updating a local features model of a robot in response to determining a human correction of an action performed by the robot. The local features model is used to determine, based on an embedding generated over a corresponding neural network model, one or more features that are most similar to the generated embedding. Updating the local features model in response to a human correction can include updating a feature embedding, of the local features model, that corresponds to the human correction. Adjustment(s) to the features model can immediately improve robot performance without necessitating retraining of the corresponding neural network model.

Abstract: A method for cleaning the mop of a cleaning robot includes: obtaining mop usage information after the cleaning robot carries the mop to clean the floor, and selecting a target mop cleaning mode to clean the mop according to the mop usage information.

Abstract: A robot lawnmower and method for controlling the robot lawnmower based on the generation of a local map. The method including receiving an image from an imaging sensor onboard the robot lawnmower, the image including an area of ground in an upcoming path, applying a semantic segmentation algorithm to produce a segmented image from the received image, the segmented image including regions corresponding to features in the image, applying a perspective transform to the segmented image to obtain an overhead view transformed image, wherein the regions are preserved in the transformed image, determining, from the transformed image, positions of the regions relative to the current position of the robot lawnmower, plotting a local map of the environment of the robot lawnmower based on positions of the regions relative to a current position of the robot lawnmower; and controlling the robot lawnmower to navigate a lawn area using the local map.

Abstract: A floor element for an automated storage and retrieval system, which comprises a three-dimensional grid, a plurality of container handling vehicles, and multiple floor elements, each floor element arrangeable at a top end of a storage column on top of a vertical stack of containers, includes an upper surface with a substantially rectangular horizontal periphery suitable for being accommodated in a storage column. The floor element further includes lifting frame connecting elements, for releasable connection to a lifting frame, on a peripheral top section of the upper surface and a cut-out at each corner of the substantially rectangular horizontal periphery for interaction with guiding pins arranged on the lifting frame, and rail-connecting elements at the substantially rectangular horizontal periphery.

Abstract: The information processing device 1D mainly includes a state-of-activity estimation unit 31D and a timing determination unit 32D. The state-of-activity estimation unit 31D estimates, based on information detected in a meeting room in which a meeting is being held, a state of activity of the meeting. The timing determination unit 32D determines a timing of mobile sales of a commodity to one or more participants of the meeting based on the state of activity estimated by the state-of-activity estimating unit 31D.

Abstract: The walking robot is an electromechanical device. The walking robot is an automatic device. The walking robot is a mobile device. The walking robot incorporates a superior structure, an inferior structure, and a control circuit. The superior structure attaches to the inferior structure. The control circuit mounts in either the superior structure or the inferior structure. The inferior structure provides the motive forces the move the walking robot. The inferior structure allows the walking robot to walk. The control circuit generates the motive forces and coordinating systems that allow the inferior structure to walk.

Abstract: The present disclosure provides a control method for an automatic cleaning equipment, wherein the automatic cleaning equipment includes a mobile device and a self-propelled cleaning device, in which the mobile device is used as a wireless network device to enable the self-propelled cleaning device to communicate with a hotspot function of the mobile device through a wireless network technology, the self-propelled cleaning device is connected to the cloud server through a mobile communication signal of the mobile device, and also the mobile device is connected to the cloud server by using a mobile communication technology.

Abstract: Described herein are various systems and processes for vehicles for delivery of real-time, on-demand orders for perishable goods, and operations thereof. The automated delivery vehicle may include a food transport container and various sensors configured to determine the location and/or surroundings of the vehicle. The automated delivery vehicle may further include a display and/or other output source configured to provide outputs to persons surrounding the automated delivery vehicle. Such outputs may include, for example, an information graphical representation (e.g., provided on a display), an audio output, and/or data communicated to a wireless device.

Abstract: A method includes obtaining, using at least one processor of an electronic device, an image-query understanding model. The method also includes obtaining, using the at least one processor, an image and a user query associated with the image, where the image includes a target image area and the user query includes a target phrase. The method further includes retraining, using the at least one processor, the image-query understanding model using a correlation between the target image area and the target phrase to obtain a retrained image-query understanding model.

Abstract: An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.

Abstract: An information processing device is provided including a recognition unit that executes recognition processing used to determine an action of an autonomous operating body on the basis of sensor information collected, in which the recognition unit includes a feedback recognizer that recognizes feedback from a user on behavior executed by the autonomous operating body, and the feedback recognizer recognizes a degree of the feedback on the basis of recognition results of a contact action and a non-contact action by the user for the autonomous operating body.

Abstract: A method is disclosed for reducing impact forces to legged robots as a result of traversing a terrain. The method includes employing actuators and compliant elements to use the contact of a first portion of a foot assembly with a terrain during a step to reduce the vertical velocity of a subsequent portion of the foot assembly so that the vertical velocity of the subsequent portion as it touches the terrain is substantially zero relative to the terrain. Foot assemblies that employ these methods are also provided.

Abstract: A dual-manipulator control method is configured to be used in a dual-manipulator control system including a first manipulator, a second manipulator, and a central control module. The first manipulator and the second manipulator are controlled by the central control module, and the central control module is configured to execute the dual-manipulator control method. The dual-manipulator control method includes: generating a first instruction sequence to control the first manipulator and a second instruction sequence to control the second manipulator; and controlling the first manipulator and the second manipulator based on the first instruction sequence and the second instruction sequence. Thus, the working efficiency is improved.

Abstract: A management system for a heterogenous robot fleet provides standard application programmatic interfaces (APIs) for use by inventory management systems in generating complex applications, wherein calls to the API are formatted in a standard format and cause the management system to orchestrate cross-fleet operations that involve multiple different types of robots that are operating in a common facility. Also, the management system for a heterogenous robot fleet provides a unified view of the heterogenous robot fleets of the facility.

Abstract: Systems and methods for transferring, storing, and/or processing materials, such as fuel or propellant, in space, are disclosed. A representative system includes a flexible container that is changeable between a stowed configuration in which the flexible container is contained within a satellite, and a deployed configuration in which the flexible container extends away from the satellite. The system can include a tanker with a storage container to dock with and refuel a satellite. Another representative system includes a controller programmed with instructions that position a spacecraft with a storage container in a first orbit, transfer the spacecraft to a second orbit, dock the spacecraft with a satellite in the second orbit, transfer material between the storage container and the satellite, undock the spacecraft from the satellite, and, optionally, return the spacecraft to the first orbit. An androgynous coupling system with mechanical and fluid connectors facilitates docking and material transfer.

Abstract: A mower is provided and includes: a case; a charging circuit provided in the case, and a combination of a wheel assembly and a charging interface assembly arranged on the case. The combination is electrically connected to the charging circuit. The combination includes: a wheel assembly; and a charging interface assembly electrically connected to the charging circuit. The wheel assembly and the charging interface assembly are integrated molding structure.

Abstract: The present application relates to a multi-sensor-fusion-based autonomous mobile robot indoor and outdoor navigation method and a robot. The method includes: acquiring inertial measurement data and three-dimensional point cloud data of a robot at a current position; determining a pose change of the robot based on the inertial measurement data of the robot at the current position; performing distortion correction on the three-dimensional point cloud data of the robot at the current position based on the pose change of the robot; and matching the three-dimensional point cloud data after the distortion correction with a navigation map, to determine the current position of the robot. With the method, the robot can be accurately positioned.

Abstract: An autonomous mobile device (AMD) may move around a physical space to perform tasks. The AMD may explore the physical space to determine map data characterizing the physical space. An exploration system maintains a world snapshot that is representative of the AMD with respect to the physical space. A plurality of planning algorithm modules are available, each able to achieve a particular exploration goal or operate under particular conditions such as initial motion, loop closure, frontier exploration, and so forth. One or more planning algorithms are selected and provided with the world snapshot data. These planning algorithms provide responses and may also determine plan data. The resulting plan data is then selected for execution. The execution of the selected plan data operates the AMD to explore the physical space.

Abstract: A base attachment module (BAM) of a small aerial vehicle (SAV) for attaching the SAV to an unprepared work surface has a surface meeting docking assembly (DA) with contact points for contacting the work surface, and a contracting suction cup (CSC) in a position surrounded by the contact points such that it extends beyond a plane (or other surface contour) of the points in a fully extended operating position, and is retracted below the plane in a retracted position. Actuation of the CSC when in contact with the surface, allows for the DA to be brought into contact with the contact points in a controlled manner, for a high stiffness attachment, as is needed for deployment of robotic tasks from a SAV.

Abstract: A remote operation spray device configured to depress-operate a spray nozzle of a spray device from a remote location. Device generates adequate pushing force required for depression and, by achieving weight reduction of the device proper, enables easy mounting on an aerial vehicle or other mobile unit. Device includes a main body fixedly attached to a mobile unit, a holder fixedly retaining a spray cartridge and a spray mechanism for jetting spray. The spray mechanism includes a base member, a depressing member pivotably attached to the base member for pressing down a spray nozzle, a pushed member provided at a distal end of the depressing member, and a pusher installed on the base member for pushing the pushed member to move horizontally. The horizontal pushing action of the pusher pushes and moves the pushed member to pivot the depressing member and press the spray nozzle vertically downward.

Abstract: A includes a driver, and a processor configured to: based on an occurrence of an event for performing an operation, acquire target information corresponding to the operation and context information related to the robot, based on at least one of the target information or the context information, select an action plan, acquire action information based on the action plan, and control the driver such that an operation corresponding to the target information is performed based on the action information. The action plan is selected as a first action plan of performing an operation according to first action information stored in advance in the memory, a second action plan of performing an operation according to second action information generated based on the acquired target information and the acquired context information, and a third action plan of performing an operation according to third action information learned based on an operation pattern of the robot.

Abstract: An autonomous working apparatus includes a main body mechanism, a moving mechanism, a working mechanism and a control module. The main body mechanism includes a support body, and the working mechanism is configured to be installed on the support body. The working mechanism has an operating member and a height variable mechanism. The height variable mechanism is configured to be movably connected with the operating member. The operating member is configured to be rotatably connected to the support body, and the operating member is configured to operatably drive the height variable mechanism to move along the height adjustment direction. The force between the operating member and the height variable mechanism is caused by the gravity of the height variable mechanism, and the force between the operating member and the support body is caused by the gravity of said operating member and of said height variable mechanism.

Abstract: An apparatus is disclosed including a robotic system having a robotic picking workstation, tote storage and retrieval and transit decks. The system has bots that autonomously transport totes from the storage and retrieval system to the robotic picking workstation via the transit decks. The robotic picking workstation may have a picking lane where a robotic handler transports eaches from totes on the bots to order totes in the workstation. The robotic picking workstation further has a queuing buffer where bots are cued for the picking lane.

Abstract: A method and system for replenishing refrigerated consumables by a mobile connected autonomous refrigerator includes receiving a notification triggered by a laboratory instrument that a refrigerated consumable used by the laboratory instrument is depleted; autonomously navigating to a refrigerated storage; retrieving the refrigerated consumable and placing it in the mobile refrigerated unit: autonomously moving to the laboratory instrument that triggered the notification; and alerting an operator to retrieve the refrigerated consumable from mobile refrigerated unit and load it into the laboratory instrument.

Abstract: A system and method for selectively augmenting information in a vehicle includes receiving a scene information from at least one sensor. identifying a region of interest from the scene information, analyzing the scene information to determine whether the region of interest is occluded, and augmenting the region of interest using a display system when the region of interest is occluded. The region of interest includes an object identified within the scene information that is classified as related to vehicle safety.

Abstract: The present invention relates to a computer-implemented method. The method includes causing a visual programming panel including a timeline editor and a plurality of motion blocks enabling a variety of robotic motions to be displayed in a visualization interface provided by a robot simulator shown on a web browser; selecting from a user, at the visual programming panel, at least one motion block from the plurality of motion blocks and adding the at least one motion block into the timeline editor, via a drag-and-drop, to form a motion configuration; and according to the motion configuration at the visual programming panel, automatically generating a program capable of commanding an end effector equipped on a target robot in a work cell to perform at least one selected robotic motion from the variety of robotic motions in the robot simulator.

Abstract: An example of a system for review of clinical data includes a medical device configured to receive patient data signals from patient interface devices coupled to the medical device, and an auxiliary device configured to communicatively couple to the medical device via a communication channel and including an output device, a memory, a communication interface, and a processor configured to establish the communication channel, estimate a transmission age for the patient data, receive the patient data from the medical device via the communication channel, determine a patient data age based on at least one of the transmission age and a playback selection age, select a patient data age threshold based on a patient data context, compare the patient data age to the patient data age threshold to determine a patient data age indication, and provide the patient data and the patient data age indication at the output device.

Abstract: A method of planning a path for an articulated arm of robot includes generating a directed graph corresponding to a joint space of the articulated arm. The directed graph includes a plurality of nodes each corresponding to a joint pose of the articulated arm. The method also includes generating a planned path from a start node associated with a start pose of the articulated arm to an end node associated with a target pose of the articulated arm. The planned path includes a series of movements along the nodes between the start node and the end node. The method also includes determining when the articulated arm can travel to a subsequent node or the target pose, terminating a movement of the articulated arm towards a target node, and initiating a subsequent movement of the articulated arm to move directly to the target pose or the subsequent node.

Abstract: A server (3) includes a route determination unit (3f1) that determines a route; a user dynamic data recognition unit (3a1) that recognizes, during guidance, user dynamic data; a guidance request estimation unit (3c) that estimates a guidance request of a user, based on the user dynamic data; a notification instruction unit (3h) that issues to a robot (2) an instruction for notification of inquiry information for inquiring about necessity of change of the route; and a reaction recognition unit (3i) that recognizes a reaction of the user to the notification. The route determination unit (3f1) determines a content of the change of the route, based on the guidance request, and determines whether the change of the route is performed, based on the reaction.

Abstract: An air flow control apparatus controls a fan. The air flow control apparatus includes an acquisition section, a detection section, and a control section. The acquisition section acquires image data obtained by an image capturing device installed in a target space. The detection section detects a specific object movable by an air flow sent from the fan, based on the image data acquired by the acquisition section. The control section executes first processing. The first processing includes controlling at least one of a direction and a volume of an air flow sent from the fan, based on a result of detection by the detection section.

Abstract: Various implementations disclosed herein include devices, systems, and methods for training of an action determining component of a computer character. In some implementations, actions are taken by the character in a 3D environment according to an action determining component of the character, where the character is rewarded or penalized for interactions associated with an object/concept in the 3D environment according to an assigned object/concept reward or penalty. In some implementations, the reward or the penalty assigned to the object/concept is modified, and the character is then rewarded or penalized for interactions associated with the object/concept according to the modified reward or the modified penalty. The action determining component of the character is trained using a reinforcement learning technique that accounts for rewards or penalties obtained by virtual character for interactions associated with the object/concept.

Abstract: A robot control method includes: determining a planned capture point and a measured capture point of the robot so as to calculate a capture point error of the robot; obtaining positions of a left foot and a right foot of the robot, and a planned zero moment point (ZMP) of the robot so as to calculate desired support forces of the left foot and the right foot; calculating desired torques of the left foot and the right foot according to the capture point error, the desired support forces of the left foot and the right foot; obtaining measured torques of the left foot and the right foot so as to calculate desired poses of the left foot and the right foot; and controlling the robot to walk according to the desired poses of the left foot and the desired pose of the right foot.

Abstract: Conversational agents (CAs) may analyze language input and generate and output a response to a user. For example, when receiving a user's support request, the CA may determine whether to conduct self-disclosure by including information about the CA's “self” in a response to the user. For example, based on performing sentiment analysis of a support request user input, the CA may determine that the user is expressing negative emotions. Based on the user's expression of negative emotions, the CA may perform self-disclosure as part of generating a response to the user. A CA that is configured to engage in self-disclosure, for instance by including information about a CA's self in an output response, may increase users' acceptance of the CA, which may make a user more likely to trust and/or interact with a CA.

Abstract: A motion path generation device generates a motion path of a robot that has a plurality of joints and a plurality of shafts. Adjacent two of the plurality of shafts are connected by a corresponding one of the plurality of joints. The motion path generation device generates a via point candidate that is a candidate of a next via point to be connected to a parent via point. The motion path generation device adds the via point candidate as a new via point in response to determining that the via point candidate does not interfere with an obstacle.

Abstract: A cleaning robot is provided. The cleaning robot includes a motion device configured to move the cleaning robot in an environment, and an exterior housing. The cleaning robot also includes a motion sensor configured to obtain parameters relating to a motion of the cleaning robot, and a storage device configured to store data including at least one of the one or more images or the one or more motion parameters. The cleaning robot also includes a camera configured to capture one or more images of the environment. The camera is disposed internal to a slant surface located at a front end of the exterior housing and is pivotable relative to the slant surface. The slant surface inclines upwardly with respect to a forward moving direction. The camera and the slant surface face substantially a same direction. A direction of the camera and the forward moving direction form an acute angle.

Abstract: A telepresence robot is provided including a controller. The controller is programmed to, after establishing a remote connection with a remote user, monitor movement of a tracked individual, detect when the tracked individual has entered an office space, and upon determination that the tracked individual has entered the office space, identify the office space and transfer a connection with the remote user from the telepresence robot to a device in the office space.

Abstract: A movable electronic apparatus includes a mobile apparatus body, a contact-type detection apparatus and a control circuit. The mobile apparatus body is provided with an electrical drive assembly that drives the mobile apparatus body to move; the contact-type detection apparatus is mounted on the mobile apparatus body, and the contact-type detection apparatus is configured and when the contact-type detection apparatus contacts dispersed dirt, an electrical signal outputted by the contact-type detection apparatus changes; the control circuit is mounted on the mobile apparatus body, and the control circuit is configured to determine whether the dispersed dirt is detected according to the magnitude of the amount by which the electrical signal outputted by the contact-type detection apparatus changes, and to control the electrical drive assembly to drive the mobile apparatus body to execute a dirt dispersion prevention action when determined that dirt that may be dispersed is detected.

Abstract: A robot generates a cell grid (e.g., occupancy grid) representation of a geographic area. The occupancy grid may include a plurality of evenly sized cells, and each cell may be assigned an occupancy status, which can be used to indicate the location of obstacles present in the geographic area. Footprints for the robot corresponding to a plurality of robot orientations and joint states may be generated and stored in a look-up table. The robot may generate a planned path for the robot to navigate within the geographic area by generating a plurality of candidate paths, each candidate path comprising a plurality of candidate robot poses. For each candidate robot pose, the robot may query the look-up table for a corresponding robot footprint to determine if a collision will occur.

Abstract: Systems, methods, and non-transitory media are provided for low-power visual tracking systems. An example method can include receiving one or more images captured by each image sensor system from a set of image sensor systems on a first device, the one or more images capturing a set of patterns on a second device, wherein the first device has lower power requirements than the second device, the set of patterns having a predetermined configuration on the second device; determining, from the one or more images captured by each image sensor system, a set of pixels corresponding to the set of patterns on the second device; determining, based on the set of pixels corresponding to the set of patterns, a location and relative pose in space of each pattern; and determining, based on the location and relative pose of each pattern, a pose of the first device relative to the second device.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for drone-assisted thermal monitoring. One of the methods includes determining a first temperature measurement at a first location of a property, navigating from the first location to a second location of the property, determining a second temperature measurement at the second location, generating a thermal model for the property based on the first temperature measurement and the second temperature measurement, and providing the thermal model for output.

Abstract: The present application provides an AGV scheduling control system and method. The AGV scheduling control system includes: an AGV scheduling controller configured to generate an AGV scheduling instruction; an AGV configured to execute a task according to the AGV scheduling instruction; and a server that is communicatively coupled with the AGV scheduling controller and the AGV respectively, the server being configured to transfer messages between the AGV scheduling controller and the AGV, and provide adaptation to AGVs from different manufacturers. The AGV scheduling control system in the present application further includes a virtual AGV scheduling controller and a virtual AGV that serve as digital twins of the AGV scheduling controller and the AGV, and the programs used to control the virtual entity and the real entity are equivalently exchangeable.

Abstract: A semantic sensing system includes a processor, a memory, a plurality of wireless communication enabled devices and at least one sensing element, the memory storing a plurality of mapped endpoints wherein the processor is configured to apply semantic drift or entropy to determine affirmative and non-affirmative circumstances based on inputs from the at least one sensing element to cause the system to perform semantic augmentation towards a first endpoint supervisor in relation with the affirmative and non-affirmative determinations.

Abstract: An autonomous traveling system includes: an information storage unit storing beforehand, for each of points on a target route from a departure place to a destination, turnability information indicating whether an autonomous traveling body traveling autonomously along the target route can turn to change a traveling posture thereof; and a travel planning unit determining the traveling posture with respect to each of traveling sections connecting the points, and determines, from among the points, a turn execution point at which the autonomous traveling body turns in order to take the determined traveling posture in each of the traveling sections, based on the turnability information, wherein the autonomous traveling body includes a travel control execution unit executing control for causing the autonomous traveling body to turn every time the autonomous traveling body reaches the turn execution point and to advance in each of the traveling sections in the determined traveling posture.

Abstract: Certain aspects relate to systems and techniques for alignment and docking of robotic arm of a robotic system for surgery. In one aspect, the system includes a robotic arm, a drive mechanism attached to the robotic arm, and a cannula. The system may further include a first sensor coupled to either the robotic arm or the drive mechanism configured to direct automatic movement of the robotic arm towards the cannula, and a second sensor, that is different than the first sensor, coupled to either the robotic arm or the drive mechanism configured to direct manual movement of the robotic arm towards the cannula.

Abstract: Systems and methods relate generally to integration of a printing device to a smart space meeting room (“meeting room”). In an example, a virtual assistant: receives a request to schedule a meeting; obtains a list of attendees; determines availability of attendees and the meeting room; confirms the availability of the attendees; reserves the meeting room; sends invitations to each of the attendees; generates a query for searching a content management system on a server; and locates materials on the content management system for the meeting. The server loads the materials for the meeting from the content management system and sends the materials to the printing device. A bot of the printing device checks status of the printing device. The printing device prints the materials personalized to each of the attendees. The virtual assistant requests the printed materials to be picked up by a robot for delivery to the meeting room.

Abstract: The present application relates to a multi-sensor-fusion-based autonomous mobile robot indoor and outdoor positioning method and a robot. The method includes: acquiring GPS information and three-dimensional point cloud data of a robot at a current position; acquiring, a two-dimensional map corresponding to the GPS information of the robot at the current position; projecting the three-dimensional point cloud data of the robot at the current position onto a road surface where the robot is currently moving, to obtain two-dimensional point cloud data of the robot at the current position; and matching the two-dimensional point cloud data of the robot at the current position with the two-dimensional map corresponding to the GPS information of the robot at the current position, to determine the current position of the robot.

Abstract: The present invention relates to a tactile sensor, a tactile stimulation sensing method using the same, and a robot skin and a robot comprising the same. Particularly, the present invention relates to a tactile sensor comprising an input layer for receiving an external tactile stimulus; a microphone member; and a medium layer disposed between the input layer and the microphone member, and including gas therein to transmit vibrations by the stimulus, a tactile stimulation sensing method using the same, and a robot skin and a robot comprising the same.

Abstract: A system for reconfiguring a factory having equipment at different workstations throughout the factory and a plurality of sensors disposed throughout the factory includes a factory configuration module configured to store a plurality of predetermined factory configurations and a plurality of mobile transporters configured to engage and transport the equipment to the different workstations throughout the factory based on the predetermined factory configurations and dynamic inputs, where the dynamic inputs include a status of the equipment, a status of the plurality of mobile transporters, sensor data output by the plurality of sensors, or a combination thereof.