RT Journal Article
T1 Data fusion in ubiquitous networked robot systems for urban services
A1 Merino, Luis
A1 Gilbert, Andrew
A1 Capitán, Jesús
A1 Bowden, Richard
A1 Illingworth, John
A1 Ollero, Aníbal
K1 Ubiquitous networked robots
K1 Decentralized data fusion
K1 Service and social robotics
K1 Person tracking
K1 Proyecto FROG
AB There is a clear trend in the use of robots to accomplish services that can help humans. In this paper, robots acting in urban environments are considered for the task of person guiding. Nowadays, it is common to have ubiquitous sensors integrated within the buildings, such as camera networks, and wireless communications like 3G or WiFi. Such infrastructure can be directly used by robotic platforms. The paper shows how combining the information from the robots and the sensors allows tracking failures to be overcome, by being more robust under occlusion, clutter, and lighting changes. The paper describes the algorithms for tracking with a set of fixed surveillance cameras and the algorithms for position tracking using the signal strength received by a wireless sensor network (WSN).Moreover, an algorithm to obtain estimations on the positions of people from cameras on board robots is described. The estimate from all these sources are then combined using a decentralized data fusion algorithm to provide an increase in performance. This scheme isscalable and can handle communication latencies and failures. We present results of the system operating in real time on a large outdoor environment, including 22 nonoverlapping cameras, WSN, and several robots.
PB Springer-Verlag
SN 0003-4347
SN 1958-9395
YR 2012
FD 2012-06-16
LK http://hdl.handle.net/10433/1797
UL http://hdl.handle.net/10433/1797
LA en
NO Annals of Telecommunications, vol 67(2012), num 7, pp 355-375
NO Universidad Pablo de Olavide. Departamento de Deporte e Informática
DS RIO
RD May 24, 2026