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Collaborative Multi-Robot Systems for Search and Rescue: Coordination and Perception [article]

Jorge Peña Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund
2020 arXiv   pre-print
SAR operations encompass a wide variety of environments and situations, and therefore heterogeneous and collaborative multi-robot systems can provide the most advantages.  ...  Across the different civil domains where robots can support human operators, one of the areas where they can have more impact is in search and rescue (SAR) operations.  ...  Multi-Modal Information Fusion Multi-modal information fusion aims at combining data from a multiple sources, e.g., images and LiDAR.  ... 
arXiv:2008.12610v1 fatcat:hq5lqtnsoreapjm4dpgg4z5xki

UWB-Based Localization for Multi-UAV Systems and Collaborative Heterogeneous Multi-Robot Systems

Wang Shule, Carmen Martínez Almansa, Jorge Peña Queralta, Zhuo Zou, Tomi Westerlund
2020 Procedia Computer Science  
In particular, its high accuracy when compared to other wireless localization solutions is enabling a wider range of collaborative and multi-robot application scenarios, being able to replace more complex  ...  and expensive motion-capture areas for use cases where accuracy in the order of tens of centimeters is sufficient.  ...  This work was partially supported by the Academy of Finland's AutoSOS project with grant number 328755, by the NSFC grant No. 61876039, the Shanghai Technology Development and Entrepreneurship Platform for  ... 
doi:10.1016/j.procs.2020.07.051 fatcat:zsieihxsqvg2lc7ukaw35hftxq

UWB-Based Localization for Multi-UAV Systems and Collaborative Heterogeneous Multi-Robot Systems: a Survey [article]

Wang Shule, Carmen Martínez Almansa, Jorge Peña Queralta, Zhuo Zou, Tomi Westerlund
2020 arXiv   pre-print
In particular, its high accuracy when compared to other wireless localization solutions is enabling a wider range of collaborative and multi-robot application scenarios, being able to replace more complex  ...  and expensive motion-capture areas for use cases where accuracy in the order of tens of centimeters is sufficient.  ...  ACKNOWLEDGEMENTS This work was supported by the Academy of Finland's Au-toSOS project with grant number 328755, by the NSFC grant No. 61876039, and the Shanghai Platform for Neuromorphic and AI Chip (NeuHeilium  ... 
arXiv:2004.08174v2 fatcat:c7lk5x5vxbgnta6cmg6i7xqil4

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception and Active Vision

Jorge Pena Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund
2020 IEEE Access  
development of multi-modal sensor fusion algorithms.  ...  In gray, we highlight the stage in which the fusion happens. D. MULTI-MODAL INFORMATION FUSION Multi-modal information fusion aims at combining data from a multiple sources, e.g., images and LiDAR.  ...  Gabbouj is the past Chairman of the IEEE CAS TC on DSP and a Committee Member of the IEEE Fourier Award for Signal Processing.  ... 
doi:10.1109/access.2020.3030190 fatcat:exigopjplzgfzlghxvr7s3l3di

Towards unmanned systems for dismounted operations in the Canadian Forces

Blake Beckman, Jack Collier, David Mackay, Simon Monckton, Michael Trentini, Franklin Wong, Pierre Richard Bilodeau
2011 International Journal of Intelligent Defence Support Systems  
Multi-sensor fusion and fault detection techniques will be incorporated into SLAM algorithms to improve robustness and decrease the incidence of failure.  ...  The mule concept has many advantages including multi-purposing as a weapons/countermine vehicle, but implies a very large payload (one ton or more), range (tens of kilometres) and mobility envelope.  ... 
doi:10.1504/ijidss.2011.037807 fatcat:6ftkog2hpvcing67x4mizym4te

Person Following by Autonomous Robots: A Categorical Overview [article]

Md Jahidul Islam, Jungseok Hong, Junaed Sattar
2019 arXiv   pre-print
A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow  ...  Furthermore, several prospective application areas are identified, and open problems are highlighted for future research.  ...  Laser Range Finders (LRFs) are also widely used by person-following UGVs Chung et al., 2012) .  ... 
arXiv:1803.08202v4 fatcat:wrqjbueulramzknpae3kt45kte

A self-organizing hybrid sensor system with distributed data fusion for intruder tracking and surveillance

R. Palaniappan, T. Clarke, P. Wahid, N. Behdad, P. Kincaid
2008 2008 IEEE Antennas and Propagation Society International Symposium  
The performance of the hybrid sensor network is analyzed for a set of N mobile sensors to determine and optimize parameters such as the position of the mobile nodes for maximum coverage of the iv sensing  ...  Most sensor networks are designed to be stand-alone systems that can operate without user intervention for long periods of time.  ...  Yin Zhenyu et al [16] researched a multi-sensor data fusion algorithm based on data reduction technique.  ... 
doi:10.1109/aps.2008.4619564 fatcat:2j77g6nyubefdmdaohgefrskhi

Active Sensing for Search and Tracking: A Review [article]

Luca Varotto, Angelo Cenedese, Andrea Cavallaro
2021 arXiv   pre-print
APE is a key task for search and rescue missions, wildlife monitoring, source term estimation, and collaborative mobile robotics.  ...  We also propose a reference framework as a formalism to classify APE-related solutions.  ...  [71] 3 3 3 position estimate and reducing the typical long search phases U: uni-modal; M: multi-modal.  ... 
arXiv:2112.02381v1 fatcat:zxptl2lhcne6hjephtrefoy5ju

Thermal cameras and applications: a survey

Rikke Gade, Thomas B. Moeslund
2013 Machine Vision and Applications  
This type of camera was originally developed as a surveillance and night vision tool for the military, but recently the price has dropped, significantly opening up a broader field of applications.  ...  Applications include animals, agriculture, buildings, gas detection, industrial, and military applications, as well as detection, tracking, and recognition of humans.  ...  Its application areas are very wide, from surveillance through entertainment to medical diagnostics.  ... 
doi:10.1007/s00138-013-0570-5 fatcat:pnln65h2ovcfrophfy2eijcbue

Active vision in robotic systems: A survey of recent developments

Shengyong Chen, Youfu Li, Ngai Ming Kwok
2011 The international journal of robotics research  
With increasing demand for robotic automation, research in this area has received much attention.  ...  Among the many factors that can be attributed to a high-performance robotic system, the planned sensing or acquisition of perceptions on the operating environment is a crucial component.  ...  wide area surveillance (Abidi et al. 2008 ); 11. review of computer-vision-based fabric defect detection (Kumar 2008 ).  ... 
doi:10.1177/0278364911410755 fatcat:pdpxmt4a5nhdvdojcsassxox6i

Going Beyond RF: How AI-enabled Multimodal Beamforming will Shape the NextG Standard [article]

Debashri Roy, Batool Salehi, Stella Banou, Subhramoy Mohanti, Guillem Reus-Muns, Mauro Belgiovine, Prashant Ganesh, Carlos Bocanegra, Chris Dick, Kaushik Chowdhury
2022 arXiv   pre-print
by a single and isolated data modality.  ...  This survey presents a thorough analysis of the different approaches used for beamforming today, focusing on mmWave bands, and then proceeds to make a compelling case for considering non-RF sensor data  ...  Such virtual presence will supports mobility while giving a group presentation or multi-player gaming.  ... 
arXiv:2203.16706v1 fatcat:44pger2flveondbtachzhcdgam

Command and Control Systems for Search and Rescue Robots [chapter]

Shashank Govindaraj, Pierre Letier, Keshav Chintamani, Jeremi Gancet, Mario Nunez Jimenez, Miguel Ángel Esbrí, Pawel Musialik, Janusz Bedkowski, Irune Badiola, Ricardo Gonçalves, António Coelho, Daniel Serrano (+3 others)
2017 Search and Rescue Robotics - From Theory to Practice  
arm tele-manipulation and field mobile devices.  ...  The availability of multi-UAV [8] base control stations is not widespread, but limited to a few such as the QGroundControl [9].  ...  Sensor fusion algorithms: This component will provide a set of algorithms for multi-robot multi-sensor data fusion.  ... 
doi:10.5772/intechopen.69495 fatcat:nwjdy2bkzbhfzcvxd4jcqduhdm

REVIEW OF METHODS FOR THE SURVEILLANCE AND ACCESS CONTROL USING THE THERMAL IMAGING SYSTEM

Mate Krišto
2016 Review of Innovation and Competitiveness  
Keywords: national security, negative effects on the national economy, infrared thermal imaging, area surveillance and access control, human detection and identification (71 -91)  ...  This paper presents methods for human detection for application in the field of national security in the context of state border surveillance.  ...  the number of false positive detection. it was also noted that this approach largely sets the framework for further research and integration of multi-modal system for object detection and reporting of  ... 
doi:10.32728/ric.2016.24/5 fatcat:zkqkfxvtrbdkhebrhveixuxzl4

A Survey on Social-Physical Sensing [article]

Md Tahmid Rashid, Na Wei, Dong Wang
2021 arXiv   pre-print
In this paper, we provide a comprehensive survey of SPS, with an emphasis on its definition and key enablers, state-of-the-art applications, potential research challenges, and road-map for future work.  ...  While social sensing possesses a plethora of benefits, it also inherently suffers from a few drawbacks (e.g., inconsistent reliability, uncertain data provenance, and limited sensing availability).  ...  Given the high agility and mobility of UGVs and UAVs along with the ability to carry on-board processing components, these dedicated mobile sensors are generally deployed for delay-sensitive and critical  ... 
arXiv:2104.01360v1 fatcat:b6sag5objzhezcfhscb3ctf2ca

Ten Years of Cooperation Between Mobile Robots and Sensor Networks

Jesus Capitán Fernández, Jose Ramiro Martinez-de-Dios, Ivan Maza, Fabresse Felipe Ramon, Anibal Ollero
2015 International Journal of Advanced Robotic Systems  
In this paper, based on our research, we introduce what we consider some relevant challenges when combining sensor networks with mobile robots.  ...  Then, we describe our developed techniques and main results for these challenges.  ...  In particular, a WSN, a surveillance network of cameras, and a mobile robot with an on-board camera are used to perform the experiments.  ... 
doi:10.5772/60689 fatcat:jzog6mlbsvhgvfvhulyqdnooae
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