Publication

Decentralized sensor fusion for ubiquitous networking robotics in urban areas

Journal Article (2010)

Journal

Sensors

Pages

2274-2314

Volume

10

Number

3

Doc link

http://dx.doi.org/10.3390/s100302274

File

Download the digital copy of the doc pdf document

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.

Categories

computer vision, robots.

Author keywords

network robot systems, distributed sensors, robot sensors, camera network

Scientific reference

A. Sanfeliu, J. Andrade-Cetto, M. Barbosa, R. Bowden, J. Capitán, A. Corominas Murtra, A. Gilbert, J. Illingworth, L. Merino, J. M. Mirats Tur, P. Moreno, A. Ollero, J. Sequeira and M.T. Spaan. Decentralized sensor fusion for ubiquitous networking robotics in urban areas. Sensors, 10(3): 2274-2314, 2010.