@incollection{BrooksMakarenkoKauppetal., author = {Brooks, Alex and Makarenko, Alexei and Kaupp, Tobias and Williams, Stefan and Durrant-Whyte, Hugh}, title = {Implementation of an indoor active sensor network}, series = {Experimental Robotics IX: The 9th International Symposium on Experimental Robotics ; Springer Tracts in Advanced Robotics (STAR,volume 21)}, booktitle = {Experimental Robotics IX: The 9th International Symposium on Experimental Robotics ; Springer Tracts in Advanced Robotics (STAR,volume 21)}, publisher = {Springer}, address = {Berlin, Heidelberg}, isbn = {978-3-540-28816-9}, doi = {10.1007/11552246_38}, pages = {397 -- 406}, abstract = {This paper describes an indoor Active Sensor Network, focussing on the implementation aspects of the system, including communication and the application framework. To make the system description more tangible we describe the latest in a series of indoor experiments implemented using ASN. The task is to detect and map motion of people (and robots) in an office space using a network of 12 stationary sensors. The network was operational for several days, with individual platform coming on and off line. On several occasions the network consisted of 39 components. The paper includes a section on the lessons learned during the project's design and development which may be applicable to other heterogeneous distributed systems with data-intensive algorithms.}, language = {en} } @inproceedings{KauppDouillardUpcroftetal., author = {Kaupp, Tobias and Douillard, Bertrand and Upcroft, Ben and Makarenko, Alexei}, title = {Hierarchical environment model for fusing information from human operators and robots}, series = {2006 IEEE/RSJ International Conference on Intelligent Robots and Systems}, booktitle = {2006 IEEE/RSJ International Conference on Intelligent Robots and Systems}, publisher = {IEEE}, doi = {10.1109/IROS.2006.282398}, pages = {5837 -- 5842}, abstract = {This paper considers the problem of building environment models by fusing information gathered by robotic platforms with human perceptual information. Rich environment models are required in real applications for both autonomous operation of robots and to support human decision making. Hierarchical models are well suited to represent complex environments because they: offer multiple abstractions of the available information to support analysis and decision-making, and permit the incorporation of higher-level human observations. The contributions of this paper are two-fold: (1) development of a probabilistic three-level environment model for distributed information gathering, and (2) experimental demonstration of fully decentralized, cooperative human-robot information gathering using an outdoor sensor network comprised of an unmanned air vehicle, a ground vehicle, and two human operators. Several information exchange patterns are presented which qualitatively demonstrate human-robot information fusion}, language = {en} } @inproceedings{MakarenkoBrooksKaupp, author = {Makarenko, Alexei and Brooks, Alex and Kaupp, Tobias}, title = {Orca: Components for robotics}, series = {International Conference on Intelligent Robots and Systems (IROS) - Workshop for Robotic Standardization at IROS'06}, booktitle = {International Conference on Intelligent Robots and Systems (IROS) - Workshop for Robotic Standardization at IROS'06}, pages = {163 -- 168}, abstract = {This paper describes Orca: an open-source software project which applies Component-Based Software Engineering principles to robotics. The paper focuses on the technical aspects of the framework which set it apart from other similar efforts. Among them are the adaption of a commercial middleware package, minimalist approach to framework design, and a commitment to multi-language multi-platform support. The paper explains our decision to use Ice -- a relatively recent entry in the field of general-purpose middleware packages.}, 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} }