关键词：光机电；传感器；感知故障；数据完整性
摘 要：This report describes basic research to analyze and investigate methods for automatic detection and mitigation of sensor and perception data. Specifically, the PI will investigate (1) Metrics for sensor performance in context using multi-modal redundancy and information theoretic approaches; (2) Detection, localization and mitigation of faults and failures using hierarchical causal reasoning for diagnosis; (3) Develop methods for using low- level (e.g., sensor data fusion filter) versus high-level (autonomous inference) processes for automated selection of data to use for perception.