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Proceedings Paper

Mobile robot sense net
Author(s): Kurt G. Konolige; Steffen Gutmann; Didier Guzzoni; Robert W. Ficklin; Keith E. Nicewarner
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Paper Abstract

Mobile robot hardware and software is developing to the point where interesting applications for groups of such robots can be contemplated. We envision a set of mobots acting to map and perform surveillance or other task within an indoor environment (the Sense Net). A typical application of the Sense Net would be to detect survivors in buildings damaged by earthquake or other disaster, where human searchers would be put a risk. As a team, the Sense Net could reconnoiter a set of buildings faster, more reliably, and more comprehensibly than an individual mobot. The team, for example, could dynamically form subteams to perform task that cannot be done by individual robots, such as measuring the range to a distant object by forming a long baseline stereo sensor form a pari of mobots. In addition, the team could automatically reconfigure itself to handle contingencies such as disabled mobots. This paper is a report of our current progress in developing the Sense Net, after the first year of a two-year project. In our approach, each mobot has sufficient autonomy to perform several tasks, such as mapping unknown areas, navigating to specific positions, and detecting, tracking, characterizing, and classifying human and vehicular activity. We detail how some of these tasks are accomplished, and how the mobot group is tasked.

Paper Details

Date Published: 26 August 1999
PDF: 10 pages
Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360358
Show Author Affiliations
Kurt G. Konolige, SRI International (United States)
Steffen Gutmann, Albert Ludwig Univ. Freiburg (Germany)
Didier Guzzoni, SRI International (United States)
Robert W. Ficklin, SRI International (United States)
Keith E. Nicewarner, SRI International (United States)

Published in SPIE Proceedings Vol. 3839:
Sensor Fusion and Decentralized Control in Robotic Systems II
Gerard T. McKee; Paul S. Schenker, Editor(s)

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