Collaborative robots for infrastructure security applications

Yi Guo, Lynne E. Parker, Raj Madhavan

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

16 Scopus citations

Abstract

We discuss techniques towards using collaborative robots for infrastructure security applications. A vast number of critical facilities, including power plants, military bases, water plants, air fields, and so forth, must be protected against unauthorized intruders. A team of mobile robots working cooperatively can alleviate human resources and improve effectiveness from human fatigue and boredom. This chapter addresses this scenario by first presenting distributed sensing algorithms for robot localization and 3D map building. We then describe a multi-robot motion planning algorithm according to a patrolling and threat response scenario. Neural network based methods are used for planning a complete coverage patrolling path. A block diagram of the system integration of sensing and planning is presented towards a successful proof of principle demonstration. Previous approaches to similar scenarios have been greatly limited by their reliance on global positioning systems, the need for the manual construction of facility maps, and the need for humans to plan and specify the individual robot paths for the mission. The proposed approaches overcome these limits and enable the systems to be deployed autonomously without modifications to the operating environment.

Original languageEnglish
Title of host publicationMobile Roots
Subtitle of host publicationThe Evolutionary Approach
EditorsNadia Nedjah, Luiza Macedo Mourelle, Leandro Santos Coelho
Pages185-200
Number of pages16
DOIs
StatePublished - 2007

Publication series

NameStudies in Computational Intelligence
Volume50
ISSN (Print)1860-949X

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