Paper Info
Title
Indoor Target Intercept Using An Acoustic Sensor Network And Dual Wavefront Path Planning
Abstract
This paper presents an approach that enables a mobile "Interceptor" robot to intercept targets in an indoor environment using information from a distributed acoustic sensor network. The approach assurnes the indoor environment has been previously mapped and that the sensor nodes know their position in the map. The targets are localized in the sensor network based upon local maxima of the acoustic volume. The current target localization information is reported to an Interceptor robot, which utilizes a dual wavefront path planner to move from its current location to a location that is within viisibility range of a target. Results of the complete implementation of this approach using 70 sensor net robots in the Player/Stage multi-robot simulator are reported, as well as implementation results to date on a team of physical robots. To our knowledge, this is the first implementation of a multi-robot system that combines the use of an acoustic sensor net for target detection with an Interceptor robot that can efficiently reach the moving position of the detected target in indoor environments.
Year
DOI
Venue
2003
10.1109/IROS.2003.1250641
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4
Keywords
Field
DocType
path planning,sensor network,mobile robots
Motion planning,Computer vision,Visibility,Wavefront,Computer science,Maxima and minima,Acoustic sensor,Artificial intelligence,Robot,Wireless sensor network,Mobile robot
Conference
Citations 
PageRank 
References 
15
1.26
7
Authors
3
Name
Order
Citations
PageRank
Lynne E. Parker11233132.54
Ben Birch2232.56
Christopher Reardon3739.46