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Title:
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Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas
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Author:
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Spaan, Matthijs T.J.; Sequeira, Joao; Ollero, A.; Moreno, Plinio; Mirats Tur, Josep Maria; Merino, Luis; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitan, Jesus; Corominas Murtra, Andreu; Gilbert, Andrew; Illingworth, John
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents |
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Abstract:
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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. |
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Subject(s):
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-Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo
-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Computer vision
-Robots
-Network robot systems
Distributed sensors
Robot sensors
Camera network
-Visió per ordinador
-Robòtica
-Classificació INSPEC::Pattern recognition::Computer vision
-Classificació INSPEC::Automation::Robots |
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Rights:
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Document type:
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Article - Published version
Article |
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