Paper Info
Title
Autonomous Intruder Detection Using a ROS-Based Multi-Robot System Equipped with 2D-LiDAR Sensors
Abstract
The application of autonomous mobile robots in robotic security platforms is becoming a promising field of innovation due to their adaptive capability of responding to potential disturbances perceived through a wide range of sensors. Researchers have proposed systems that either focus on utilizing a single mobile robot or a system of cooperative multiple robots. However, very few of the proposed works, particularly in the field of multi-robot systems, are completely dependent on LiDAR sensors for achieving various tasks. This is essential when other sensors on a robot fail to provide peak performance in particular conditions, such as a camera operating in the absence of light. This paper proposes a multi-robot system that is developed using ROS (Robot Operating System) for intruder detection in a single-range-sensor-per-robot scenario with centralized processing of detections from all robots by our central bot MIDNet (Multiple Intruder Detection Network). This work is aimed at providing an autonomous multi-robot security solution for a warehouse in the absence of human personnel.
Year
DOI
Venue
2020
10.1109/SSRR50563.2020.9292639
2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Keywords
DocType
ISSN
multirobot security solution,Multiple Intruder Detection Network,single-range-sensor-per-robot scenario,Robot Operating System,multiple robots,single mobile robot,robotic security platforms,autonomous mobile robots,2d-LiDAR sensors,ROS-based multiRobot System equipped,autonomous Intruder Detection
Conference
2374-3247
ISBN
Citations 
PageRank 
978-1-6654-0391-7
0
0.34
References 
Authors
11
5
Name
Order
Citations
PageRank
Mashnoon Islam100.68
Touhid Ahmed200.34
Abu Tammam Bin Nuruddin300.34
Mashuda Islam400.34
Shahnewaz Siddique502.03