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 - Brooks, Alex A1 - Kaupp, Tobias A1 - Makarenko, Alexei A1 - Williams, Stefan A1 - Orebäck, Anders ED - Brugali, Davide T1 - Orca: A component model and repository T2 - Software engineering for experimental robotics ; Springer Tracts in Advanced Robotics (STAR,volume 30) N2 - This Chapter describes Orca: an open-source project which applies Component-Based Software Engineering principles to robotics. It provides the means for defining and implementing interfaces such that components developed independently are likely to be inter-operable. In addition it provides a repository of free re-useable components. Orca attempts to be widely applicable by imposing minimal design constraints. This Chapter describes lessons learned while using Orca and steps taken to improve the framework based on those lessons. Improvements revolve around middleware issues and the problems encountered while scaling to larger distributed systems. Results are presented from systems that were implemented. Y1 - 2007 SN - 978-3-540-68949-2 U6 - https://doi.org/10.1007/978-3-540-68951-5_13 SP - 231 EP - 251 PB - Springer CY - Berlin, Heidelberg ER - TY - CHAP A1 - Kaupp, Tobias A1 - Makarenko, Alexei A1 - Kumar, Suresh A1 - Upcroft, Ben A1 - Williams, Stefan T1 - Operators as information sources in sensor networks T2 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems N2 - This paper presents an approach of integrating human operators into a sensor network formed by a heterogeneous team of unmanned air and ground vehicles. Several objectives of human-network interaction are identified. The main focus of this work is on human-to-network information flow, i.e. human operators are regarded as information sources. It is argued that operators should make raw observations which are converted into the sensor network's common representation by a probabilistic model. The concepts are discussed in the context of an outdoor sensor network under development. Human operators contribute geometric feature information in the form of range and bearing observations. Visual feature properties are specified via meaningful class labels. A sensor model, represented as a Bayesian network, translates label observations into the system's representation. The model is also used to classify features as observed by robotic sensors. Y1 - 2005 U6 - https://doi.org/10.1109/IROS.2005.1545015 SP - 936 EP - 941 PB - IEEE ER - TY - CHAP A1 - Kaupp, Tobias A1 - Makarenko, Alexei A1 - Ramos, Fabio A1 - Upcroft, Ben A1 - Williams, Stefan A1 - Durrant-Whyte, Hugh T1 - Adaptive human sensor model in sensor networks T2 - 2005 7th International Conference on Information Fusion N2 - This paper presents the design of a probabilistic model of human perception as an integral part of a decentralized data fusion system. The system consists of a team of human operators and robotic platforms, together forming a heterogeneous sensor network. Human operators are regarded as information sources submitting raw observations. The observations are converted into a probabilistic representation suitable for fusion with the system's belief. The conversion is performed by a human sensor model (HSM). The initial HSM is built offline based on an average of multiple human subjects conducting a calibration experiment. Since individual human operators may vary in their performance, an online adaptation of the HSM is required. The network estimate is used for adaptation because the true feature state is unknown at runtime. Results of an outdoor calibration experiment using range and bearing observations are presented. Simulations show the feasibility of efficient online adaptation. Y1 - 2005 U6 - https://doi.org/10.1109/ICIF.2005.1591929 VL - 1 PB - IEEE ER - TY - CHAP A1 - Brooks, Alex A1 - Kaupp, Tobias A1 - Makarenko, Alexei A1 - Williams, Stefan A1 - Oreback, Anders T1 - Towards component-based robotics T2 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems N2 - This paper gives an overview of component-based software engineering (CBSE), motivates its application to the field of mobile robotics, and proposes a particular component model. CBSE is an approach to system-building that aims to shift the emphasis from programming to composing systems from a mixture of off-the-shelf and custom-built software components. This paper argues that robotics is particularly well-suited for and in need of component-based ideas. Furthermore, now is the right time for their introduction. The paper introduces Orca - an open-source component-based software engineering framework proposed for mobile robotics with an associated repository of free, reusable components for building mobile robotic systems. Y1 - 2005 UR - https://www.researchgate.net/publication/224623500_Towards_component-based_robotics SP - 163 EP - 168 ER - TY - CHAP A1 - Brooks, Alex A1 - Makarenko, Alexei A1 - Kaupp, Tobias A1 - Williams, Stefan A1 - Durrant-Whyte, Hugh F. T1 - Implementation of an indoor active sensor network T2 - 9th International Symposium on Experimental Robotics 2004, Singapore Y1 - 2004 ER -