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Sensors 2010, 10(3), 2274-2314; doi:10.3390/s100302274

Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

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1 Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain 2 Instituto Superior Técnico & Institute for Systems and Robotics, Lisbon, Portugal 3 Centre for Vision Speech and Signal Processing, University of Surrey, Guildford, UK 4 Pablo de Olavide University, Seville, Spain 5 Robotics, Vision and Control Group, University of Seville, Seville, Spain 6 Center for Advanced Aerospace Technology, Seville, Spain
* Author to whom correspondence should be addressed.
Received: 12 January 2010 / Revised: 2 February 2010 / Accepted: 28 February 2010 / Published: 19 March 2010
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain)


In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted.
Keywords: network robot systems; distributed sensors; robot sensors; camera network network robot systems; distributed sensors; robot sensors; camera network
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Sanfeliu, A.; Andrade-Cetto, J.; Barbosa, M.; Bowden, R.; Capitán, J.; Corominas, A.; Gilbert, A.; Illingworth, J.; Merino, L.; Mirats, J.M.; Moreno, P.; Ollero, A.; Sequeira, J.; Spaan, M.T.J. Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas. Sensors 2010, 10, 2274-2314.

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