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Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas
Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain
Instituto Superior Técnico & Institute for Systems and Robotics, Lisbon, Portugal
Centre for Vision Speech and Signal Processing, University of Surrey, Guildford, UK
Pablo de Olavide University, Seville, Spain
Robotics, Vision and Control Group, University of Seville, Seville, Spain
Center for Advanced Aerospace Technology, Seville, Spain
* Author to whom correspondence should be addressed.
Received: 12 January 2010; in revised form: 2 February 2010 / Accepted: 28 February 2010 / Published: 19 March 2010
Abstract: 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
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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.
Sanfeliu A, Andrade-Cetto J, Barbosa M, Bowden R, Capitán J, Corominas A, Gilbert A, Illingworth J, Merino L, Mirats JM, Moreno P, Ollero A, Sequeira J, Spaan MTJ. Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas. Sensors. 2010; 10(3):2274-2314.
Sanfeliu, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitán, Jesús; Corominas, Andreu; Gilbert, Andrew; Illingworth, John; Merino, Luis; Mirats, Josep M.; Moreno, Plínio; Ollero, Aníbal; Sequeira, João; Spaan, Matthijs T. J. 2010. "Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas." Sensors 10, no. 3: 2274-2314.