title: Decentralized sensor fusion for Ubiquitous Networking Robotics in Urban Areas.
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.
authors.affiliation: Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain. sanfeliu@iri.upc.edu
authors.forename: Alberto
authors.initials: A
authors.lastname: Sanfeliu
authors.forename: Juan
authors.initials: J
authors.lastname: Andrade-Cetto
authors.forename: Marco
authors.initials: M
authors.lastname: Barbosa
authors.forename: Richard
authors.initials: R
authors.lastname: Bowden
authors.forename: Jesús
authors.initials: J
authors.lastname: Capitán
authors.forename: Andreu
authors.initials: A
authors.lastname: Corominas
authors.forename: Andrew
authors.initials: A
authors.lastname: Gilbert
authors.forename: John
authors.initials: J
authors.lastname: Illingworth
authors.forename: Luis
authors.initials: L
authors.lastname: Merino
authors.forename: Josep M
authors.initials: JM
authors.lastname: Mirats
authors.forename: Plínio
authors.initials: P
authors.lastname: Moreno
authors.forename: Aníbal
authors.initials: A
authors.lastname: Ollero
authors.forename: João
authors.initials: J
authors.lastname: Sequeira
authors.forename: Matthijs T J
authors.initials: MT
authors.lastname: Spaan
mesh_terms: D001185:Artificial Intelligence; D002947:Cities; D003195:Computer Communication Networks; D005868:Gestures; D006801:Humans; D007091:Image Processing, Computer-Assisted / Q000379:methods*; D009043:Motor Activity; D010363:Pattern Recognition, Automated / Q000379:methods; D012371:Robotics / Q000295:instrumentation*; D013686:Telemetry / Q000295:instrumentation* / Q000379:methods; D014741:Video Recording / Q000295:instrumentation / Q000379:methods