@inproceedings{BrooksMakarenkoKauppetal., author = {Brooks, Alex and Makarenko, Alexei and Kaupp, Tobias and Williams, Stefan and Durrant-Whyte, Hugh F.}, title = {Implementation of an indoor active sensor network}, series = {9th International Symposium on Experimental Robotics 2004, Singapore}, booktitle = {9th International Symposium on Experimental Robotics 2004, Singapore}, language = {en} } @inproceedings{UpcroftRidleyOngetal., author = {Upcroft, Ben and Ridley, Matthew and Ong, Lee Ling and Douillard, Bertrand and Kaupp, Tobias and Kumar, Suresh and Bailey, Tim and Ramos, Fabio and Makarenko, Alexei and Brooks, Alex and Sukkarieh, Salah and Durrant-Whyte, Hugh F.}, title = {Multilevel state estimation in an outdoor decentralised sensor network}, series = {10th International Symposium on Experimental Robotics 2006 (ISER'06), Rio de Janeiro, Brazil}, booktitle = {10th International Symposium on Experimental Robotics 2006 (ISER'06), Rio de Janeiro, Brazil}, language = {en} } @article{MakarenkoKauppDurrantWhyte, author = {Makarenko, Alexei A. and Kaupp, Tobias and Durrant-Whyte, Hugh F.}, title = {Scalable human-robot interactions in active sensor networks}, series = {IEEE Pervasive Computing}, volume = {2}, journal = {IEEE Pervasive Computing}, number = {4}, doi = {10.1109/MPRV.2003.1251170}, pages = {63 -- 71}, abstract = {Decentralized sensor networks promise virtually unlimited scalability and can tolerate individual component failures. Interaction with human operators plays an important role in the overall system design. The authors describe an experimental active sensor network and identify modes of human-robot interaction that keep up with the network's arbitrary growth.}, 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} } @inproceedings{UpcroftRidleyOngetal., author = {Upcroft, Ben and Ridley, Matthew and Ong, Lee Ling and Douillard, Bertrand and Kaupp, Tobias and Kumar, Suresh and Bailey, Tim and Ramos, Fabio and Makarenko, Alexei and Brooks, Alex and Sukkarieh, Salah and Durrant-Whyte, Hugh F.}, title = {Multi-level state estimation in an outdoor decentralised sensor network}, series = {Experimental Robotics: The 10th International Symposium on Experimental Robotics ; Springer Tracts in Advanced Robotics (STAR, volume 39)}, booktitle = {Experimental Robotics: The 10th International Symposium on Experimental Robotics ; Springer Tracts in Advanced Robotics (STAR, volume 39)}, editor = {Khatib, Oussama and Kumar, Vijay and Rus, Daniela}, publisher = {Springer}, address = {Berlin, Heidelberg}, isbn = {978-3-540-77456-3}, doi = {10.1007/978-3-540-77457-0_33}, pages = {355 -- 365}, abstract = {Decentralised estimation of heterogeneous sensors is performed on an outdoor network. Attributes such as position, appearance, and identity represented by non-Gaussian distributions are used in in the fusion process. It is shown here that real-time decentralised data fusion of non-Gaussian estimates can be used to build rich environmental maps. Human operators are also used as additional sensors in the network to complement robotic information.}, language = {en} } @inproceedings{WangKumarRamosetal., author = {Wang, X. Rosalind and Kumar, Suresh and Ramos, Fabio and Kaupp, Tobias and Upcroft, Ben and Durrant-Whyte, Hugh F.}, title = {Learning in hyperspectral images using a nonlinear dimensionality reduction technique}, series = {9th International Conference on Information Fusion (Fusion 2006), Florence, Italy}, booktitle = {9th International Conference on Information Fusion (Fusion 2006), Florence, Italy}, language = {en} }