Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

作     者：Sanfeliu, Alberto Andrade-Cetto, Juan Barbosa, Marco Bowden, Richard Capitan, Jesus Corominas, Andreu Gilbert, Andrew Illingworth, John Merino, Luis Mirats, Josep M. Moreno, Plinio Ollero, Anibal Sequeira, Joao Spaan, Matthijs T. J. 

作者机构：UPC CSIC Inst Robot & Informat Ind Barcelona Spain Inst Super Tecn Lisbon Portugal Inst Syst & Robot Lisbon Portugal Univ Surrey Ctr Vis Speech & Signal Proc Guildford GU2 5XH Surrey England Pablo Olavide Univ Seville Spain Univ Seville Robot Vis & Control Grp Seville Spain Ctr Adv Aerosp Technol Seville Spain 

出 版 物：《SENSORS》 (传感器)

年 卷 期：2010年第10卷第3期

页      面：2274-2314页

核心收录：

学科分类：0710[理学-生物学] 071010[理学-生物化学与分子生物学] 0808[工学-电气工程] 07[理学] 0804[工学-仪器科学与技术] 0703[理学-化学] 

基　　金：European Commission [FP6-IST-045062] CONET Cooperating Objects Network of Excellence [FP7-2007-2-224053] Spanish National [DPI2007-61452] PAU, Perception and Action under Uncertainty [DPI2008-06022] MIPRCV Multimodal Interaction in Pattern Recognition and Computer Vision of the Consolider Ingenio 2010 program [CSD2007-00018] Andalusian Government [P06-TEP-01494] 

主　　题：network robot systems distributed sensors robot sensors camera network 

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.