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Decentralized sensor fusion for ubiquitous networking robotics in urban areas

Sanfeliu, A, Andrade-Cetto, J, Barbosa, M, Bowden, R, Capitán, J, Corominas, A, Gilbert, A, Illingworth, J, Merino, L, Mirats, JM, Moreno, P, Ollero, A, Sequeira, J and Spaan, MTJ (2010) Decentralized sensor fusion for ubiquitous networking robotics in urban areas Sensors, 10 (3). 2274 - 2314. ISSN 1424-8220

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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.

Item Type: Article
Additional Information: © 2010 by the authors; licensee Molecular Diversity Preservation International, Basel, Switzerland. This article is an open-access article distributed under the terms and conditions of the Creative Commons Attribution license http://creativecommons.org/licenses/by/3.0/.
Divisions: Faculty of Engineering and Physical Sciences > Electronic Engineering > Centre for Vision Speech and Signal Processing
Depositing User: Symplectic Elements
Date Deposited: 21 May 2012 15:27
Last Modified: 23 Sep 2013 19:24
URI: http://epubs.surrey.ac.uk/id/eprint/531494

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