Distributed Sensor Databases for Multi-robot Teams

We describe our implementation of a distributed sensor database that was designed to support the activities of teams of mobile robots as they explore an environment. Importantly, this approach effectively separates the process of acquiring sensor data from that of exploiting it. This allows us to develop applications where robots and human users can automatically discover and utilize sensor measurements acquired by other robots in the team. We also explain our approach to implementing distributed queries, an important capability that allows us to perform queries in a way that makes best use of the limited available communication bandwidth. Finally, we briefly describe how we have used this system to support situational awareness tasks.

Authors

• Anthony Cowley
• Hwa-Chow Oliver Hsu
• Camillo J. Taylor

Keywords

• Distributed databases
• Sensor arrays
• Robot sensing systems
• Sensor phenomena and characterization
• Image sensors
• Robotics and automation
• Mobile robots
• Humans
• Bandwidth
• Unmanned aerial vehicles
• Sensor Data
• Limited Bandwidth
• Swarm Robotics
• Running
• Running Time
• Volume Of Data
• Part Of Network
• Target Location
• Data Logger
• Operation Process
• Research Database
• Modulation Of Processes
• Single Node
• Time Stamp
• Position Estimation
• Sensor Array
• Human Operator
• Output Of Module
• Distributed Manner
• GPS Unit
• Distributed Database
• Target Scene
• Types Of Queries