Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

Sensors

Alberto Sanfeliu²  Juan Andrade-Cetto²  Marco Barbosa¹  Richard Bowden⁴  Jesús Capitán³  Andreu Corominas²  Andrew Gilbert⁴  John Illingworth⁴  Luis Merino⁵  Josep M. Mirats²  Plínio Moreno¹  Anl Ollero³  João Sequeira¹ 

[1] Instituto Superior Técnico & Institute for Systems and Robotics, Lisbon, Portugal; E-Mails:;Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain; E-Mails:;Robotics, Vision and Control Group, University of Seville, Seville, Spain; E-Mail:;Centre for Vision Speech and Signal Processing, University of Surrey, Guildford, UK; E-Mails:;Pablo de Olavide University, Seville, Spain; E-Mail:

关键词: network robot systems;    distributed sensors;    robot sensors;    camera network;   

DOI  :  10.3390/s100302274

来源: mdpi

【 摘 要 】

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.

【 授权许可】

CC BY   
© 2010 by the authors; licensee Molecular Diversity Preservation International, Basel, Switzerland.