TY - CHAP A1 - Brooks, Alex A1 - Makarenko, Alexei A1 - Kaupp, Tobias A1 - Williams, Stefan A1 - Durrant-Whyte, Hugh T1 - Implementation of an indoor active sensor network T2 - Experimental Robotics IX: The 9th International Symposium on Experimental Robotics ; Springer Tracts in Advanced Robotics (STAR,volume 21) N2 - 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. Y1 - 2006 SN - 978-3-540-28816-9 U6 - https://doi.org/10.1007/11552246_38 SP - 397 EP - 406 PB - Springer CY - Berlin, Heidelberg ER - TY - CHAP A1 - Kaupp, Tobias A1 - Douillard, Bertrand A1 - Upcroft, Ben A1 - Makarenko, Alexei T1 - Hierarchical environment model for fusing information from human operators and robots T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems N2 - 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 Y1 - 2006 U6 - https://doi.org/10.1109/IROS.2006.282398 SP - 5837 EP - 5842 PB - IEEE ER - TY - CHAP A1 - Makarenko, Alexei A1 - Brooks, Alex A1 - Kaupp, Tobias T1 - Orca: Components for robotics T2 - International Conference on Intelligent Robots and Systems (IROS) - Workshop for Robotic Standardization at IROS'06 N2 - 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. Y1 - 2006 SP - 163 EP - 168 ER - TY - CHAP A1 - Upcroft, Ben A1 - Ridley, Matthew A1 - Ong, Lee Ling A1 - Douillard, Bertrand A1 - Kaupp, Tobias A1 - Kumar, Suresh A1 - Bailey, Tim A1 - Ramos, Fabio A1 - Makarenko, Alexei A1 - Brooks, Alex A1 - Sukkarieh, Salah A1 - Durrant-Whyte, Hugh F. T1 - Multilevel state estimation in an outdoor decentralised sensor network T2 - 10th International Symposium on Experimental Robotics 2006 (ISER'06), Rio de Janeiro, Brazil Y1 - 2006 ER -