ISROBOTNET: A testbed for sensor and robot network systems

This paper introduces a testbed for sensor and robot network systems, currently composed of 10 cameras and 5 mobile wheeled robots equipped with several sensors for self-localization, obstacle avoidance and vision cameras, and wireless communications. The testbed includes a service-oriented middleware to enable fast prototyping and implementation of algorithms previously tested in simulation, as well as to simplify integration of subsystems developed by different partners. We survey an integrated approach to human-robot interaction that has been developed supported by the testbed under an European research project. The application integrates innovative methods and algorithms for people tracking and waving detection, cooperative perception among static and mobile cameras to improve people tracking accuracy, as well as decision-theoretical approaches to sensor selection and task allocation within the sensor network.

Authors

• Marco Barbosa
• Alexandre Bernardino
• Dario Figueira
• José António Gaspar
• Nelson Gonçalves
• Pedro U. Lima
• Plinio Moreno
• Abdolkarim Pahliani
• José Santos-Victor
• Matthijs T. J. Spaan
• João Sequeira 0001

Keywords

• System testing
• Sensor systems
• Robot sensing systems
• Robot vision systems
• Mobile robots
• Cameras
• Wireless sensor networks
• Automatic testing
• Wireless communication
• Middleware
• Sensor Networks
• Robotic Network
• Sensor Network System
• Obstacle Avoidance
• Human-robot Interaction
• Sensor Selection
• Task Allocation
• Mobile Camera
• European Research Project
• People Tracking
• Field Of View
• Interaction Mechanism
• Focus Of Attention
• Bounding Box
• Optical Flow
• Markov Decision Process
• Mobile Robot
• Assignment Problem
• Application Layer
• Position Of The Robot
• Camera Network
• Mobile Sensors
• Robot Navigation
• Service-oriented Architecture
• World Coordinate
• Laser Ranging
• Onboard Camera
• Description File
• Homography
• Optical Flow Algorithm