Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

被引：31

作者：

Sanfeliu, Alberto ^{[1
]}

Andrade-Cetto, Juan ^{[1
]}

Barbosa, Marco ^{[2
,3
]}

Bowden, Richard ^{[4
]}

Capitan, Jesus ^{[6
]}

Corominas, Andreu ^{[1
]}

Gilbert, Andrew ^{[4
]}

Illingworth, John ^{[4
]}

Merino, Luis ^{[5
]}

Mirats, Josep M. ^{[1
]}

Moreno, Plinio ^{[2
,3
]}

Ollero, Anibal ^{[6
,7
]}

Sequeira, Joao ^{[2
,3
]}

Spaan, Matthijs T. J. ^{[2
,3
]}

机构：

[1] UPC, CSIC, Inst Robot & Informat Ind, Barcelona, Spain

[2] Inst Super Tecn, Lisbon, Portugal

[3] Inst Syst & Robot, Lisbon, Portugal

[4] Univ Surrey, Ctr Vis Speech & Signal Proc, Guildford GU2 5XH, Surrey, England

[5] Pablo Olavide Univ, Seville, Spain

[6] Univ Seville, Robot Vis & Control Grp, Seville, Spain

[7] Ctr Adv Aerosp Technol, Seville, Spain

来源：

SENSORS | 2010年 / 10卷 / 03期

关键词：

network robot systems; distributed sensors; robot sensors; camera network; FEATURES;

D O I：

10.3390/s100302274

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

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.

引用

页码：2274 / 2314

页数：41