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Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

Alberto Sanfeliu, Juan Andrade-Cetto, Marco Barbosa, Richard Bowden, Jesús Capitán, Andreu Corominas, Andrew Gilbert, John Illingworth, Luis Merino, Josep M. Mirats, Plinio Moreno, An\'ibal Ollero, João Sequeira, and Matthijs T. J. Spaan. Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas. Sensors, 10(3):2274–2314, 2010.

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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.

BibTeX Entry

@Article{Sanfeliu10sensors,
  author =       {Sanfeliu, Alberto and Andrade-Cetto, Juan and
                  Barbosa, Marco and Bowden, Richard and Capit\'an,
                  Jes\'us and Corominas, Andreu and Gilbert, Andrew
                  and Illingworth, John and Merino, Luis and Mirats,
                  Josep M. and Moreno, Plinio and Ollero, An\'ibal and
                  Sequeira, Jo{\~a}o and Spaan, Matthijs T. J.},
  title =        {Decentralized Sensor Fusion for Ubiquitous
                  Networking Robotics in Urban Areas},
  journal =      {Sensors},
  year =         2010,
  volume =       10,
  number =       3,
  pages =        {2274--2314}
}

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