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Sensory Fusion

Functional domain: Sensory Fusion
Status: Stable — rule-based entity-derived fusion (health_status, readiness_status, trust_status); conflicts feed readiness partial scoring; live multi-sensor pipeline Stable-with-env-gate via SPANDA_LIVE_FUSION_SENSORS=1.

Canonical architecture: cognitive-resilience-architecture.md

Purpose

Do not trust a single signal when safety depends on multiple sources.

Types

SensorConfidence, FusedObservation, SignalAgreement, SignalConflict

Examples

  • GPS + IMU + wheel odometry
  • Camera + LiDAR + radar
  • Wearable + location + operator input

On conflict

Lower readiness, trigger diagnosis, require fallback, escalate if safety-critical.

CLI

spanda fusion check

API

REST: GET /v1/autonomy/fusion · SDK: FusionClient

See confidence-model.md, responsibility-matrix.md.