Scalable human-robot interactions in active sensor networks

Decentralized sensor networks promise virtually unlimited scalability and can tolerate individual component failures. An experimental active sensor network that leverages environment-centric modes of human-robot interaction can keep up with a network's arbitrary growth. Spatially distributed se...

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Bibliographic Details
Published in:IEEE pervasive computing 2003-10, Vol.2 (4), p.63-71
Main Authors: Makarenko, A.A., Kaupp, T., Durrant-Whyte, H.F.
Format: Article
Language:English
Subjects:
Active control
Actuators
Communication system control
Decentralized
Dynamical systems
Failure
Human robot interaction
Intelligent networks
Mobile robots
Networks
Onboard
Robot kinematics
Robots
Robustness
Scalability
Sensor fusion
Sensor systems
Sensors
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Summary:Decentralized sensor networks promise virtually unlimited scalability and can tolerate individual component failures. An experimental active sensor network that leverages environment-centric modes of human-robot interaction can keep up with a network's arbitrary growth. Spatially distributed sensors provide better coverage, faster response to dynamically changing environments, better survivability, and robustness to failure. Taking an extra step to a decentralized system provides further benefits of scalability, modularity, and performance. Our active sensor network is a collection of sensing platforms connected into a network. Some or all of the network components have actuators that we can control, making them, in this sense, active. A mobile robot with onboard sensors and a communication facility is an example of an active component. We investigate the scalability of an important aspect of an ASN: interaction with human operations.
ISSN:1536-1268
1558-2590
DOI:10.1109/MPRV.2003.1251170