Set-labelled filters and sensor transformations

@inproceedings{Saberifar2016SetlabelledFA,
  title={Set-labelled filters and sensor transformations},
  author={Fatemeh Zahra Saberifar and Shervin Ghasemlou and Jason M. O’Kane and Dylan A. Shell},
  booktitle={Robotics: Science and Systems},
  year={2016}
}
For a given robot and a given task, this paper addresses questions about which modifications may be made to the robot’s suite of sensors without impacting the robot’s behavior in completing its task. Though this is an important design-time question, few principled methods exist for providing a definitive answer in general. Utilizing and extending the language of combinatorial filters, this paper aims to fill that lacuna by introducing theoretical tools for reasoning about sensors and… 
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