@inproceedings{MakarenkoKauppGrocholskyetal., author = {Makarenko, Alexei and Kaupp, Tobias and Grocholsky, Ben and Durrant-Whyte, Hugh}, title = {Human-robot interactions in active sensor networks}, series = {Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No. 03EX694)}, volume = {1}, booktitle = {Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No. 03EX694)}, doi = {10.1109/CIRA.2003.1222097}, pages = {247 -- 252}, abstract = {This paper considers the modes of interaction between one or several human operators and an active sensor network-a fully decentralized network of sensors some or all of which have actuators and are in that sense active. The primary goal of this study is to investigate the conditions under which the human involvement will not jeopardize scalability of the overall system. Two aspects of human-robot interaction are considered: the ways in which the global view of the system may be conveyed to the operators, and how the operators may influence the behavior of the system during the course of its operation. The results of analysis favor peer-to-peer environment-centric interactions between the operators and the network whereby the humans act as extended sensors and communication nodes of the network itself. Experiments on an indoor active sensor network are described.}, language = {en} } @incollection{GrocholskyMakarenkoKauppetal., author = {Grocholsky, Ben and Makarenko, Alexei and Kaupp, Tobias and Durrant-Whyte, Hugh F.}, title = {Scalable control of decentralised sensor platforms}, series = {Information Processing in Sensor Networks ; Lecture Notes in Computer Science (LNCS, Volume 2634)}, booktitle = {Information Processing in Sensor Networks ; Lecture Notes in Computer Science (LNCS, Volume 2634)}, editor = {Zhao, Feng and Guibas, Leonidas}, publisher = {Springer}, address = {Berlin, Heidelberg}, isbn = {978-3-540-02111-7}, doi = {10.1007/3-540-36978-3_7}, pages = {96 -- 112}, abstract = {This paper describes an information-theoretic approach to decentralised and coordinated control of multi-robot sensor systems. It builds on techniques long established for the related problem of Decentralised Data Fusion (DDF). The DDF architecture uses information measures to communicate state estimates in a network of sensors. For coordinated control of robot sensors, the control objective becomes maximisation of these information measures. A decentralised coordinated control architecture is presented. The approach taken seeks to achieve scalable solutions that maintain consistent probabalistic sensor fusion and payoff formulations. It inherits the many benefits of the DDF method including scalability, seamless handling of sub-system activation and deactivation, and interoperability among heterogeneous units. These features are demonstrated through application to practical multi-feature localisation problems on a team of indoor robots equipped with laser range finders.}, language = {en} }