TY - CHAP
T1 - Collaborative robots for infrastructure security applications
AU - Guo, Yi
AU - Parker, Lynne E.
AU - Madhavan, Raj
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-540-49720-2_9
DO - 10.1007/978-3-540-49720-2_9
M3 - Chapter
AN - SCOPUS:34247512008
SN - 3540497196
SN - 9783540497196
T3 - Studies in Computational Intelligence
SP - 185
EP - 200
BT - Mobile Roots
A2 - Nedjah, Nadia
A2 - Macedo Mourelle, Luiza
A2 - Santos Coelho, Leandro
ER -