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Multi-robot Surveillance Through a Distributed Sensor Network

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Cooperative Robots and Sensor Networks 2015

Part of the book series: Studies in Computational Intelligence ((SCI,volume 604))

Abstract

Automatic surveillance of public areas, such as airports, train stations, and shopping malls, requires the capacity of detecting and recognizing possible abnormal situations in populated environments. In this book chapter, an architecture for intelligent surveillance in indoor public spaces, based on an integration of interactive and non-interactive heterogeneous sensors, is described. As a difference with respect to traditional, passive and pure vision-based systems, the proposed approach relies on a distributed sensor network combining RFID tags, multiple mobile robots, and fixed RGBD cameras. The presence and the position of people in the scene is detected by suitably combining data coming from the sensor nodes, including those mounted on board of the mobile robots that are in charge of patrolling the environment. The robots can adapt their behavior according to the current situation, on the basis of a Prey-Predator scheme, and can coordinate their actions to fulfill the required tasks. Experimental results have been carried out both on real and on simulated data to show the effectiveness of the proposed approach.

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Notes

  1. 1.

    http://www.sociopatterns.org/datasets.

  2. 2.

    OpenBeacon Logger. https://github.com/francesco-ficarola/OpenBeaconLogger.

  3. 3.

    http://www.turtlebot.com/.

  4. 4.

    http://wiki.ros.org/gmapping.

  5. 5.

    http://wiki.ros.org/amcl.

  6. 6.

    http://www.ros.org.

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Acknowledgments

This work has been partially supported by the TENACE PRIN Project (n. 20103P34XC) funded by the Italian Ministry of Education, University and Research and it has been carried out in cooperation with the SocioPatterns collaboration (www.sociopatterns.org).

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Authors and Affiliations

  1. Department of Computer, Control, and Management Engineering, Sapienza University of Rome, via Ariosto 25, 00185, Rome, Italy

    Andrea Pennisi, Fabio Previtali, Cristiano Gennari, Domenico D. Bloisi, Luca Iocchi, Francesco Ficarola, Andrea Vitaletti & Daniele Nardi

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  1. Andrea Pennisi
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  2. Fabio Previtali
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  3. Cristiano Gennari
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  4. Domenico D. Bloisi
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  5. Luca Iocchi
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  6. Francesco Ficarola
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  7. Andrea Vitaletti
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  8. Daniele Nardi
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Corresponding author

Correspondence to Andrea Pennisi .

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Editors and Affiliations

  1. College of Computer and Information Sciences (CCIS), Prince Sultan University, Riyadh, Saudi Arabia, and CISTER/INESC-TEC, ISEP, Polytechnic Institute of Porto, Porto, Portugal

    Anis Koubâa

  2. Depto. Ing. de Sistemas y Automática Escuela Superior de Ingenieros, University of Seville, Sevilla, Spain

    J.Ramiro Martínez-de Dios

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Pennisi, A. et al. (2015). Multi-robot Surveillance Through a Distributed Sensor Network. In: Koubâa, A., Martínez-de Dios, J. (eds) Cooperative Robots and Sensor Networks 2015. Studies in Computational Intelligence, vol 604. Springer, Cham. https://doi.org/10.1007/978-3-319-18299-5_4

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  • DOI: https://doi.org/10.1007/978-3-319-18299-5_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-18298-8

  • Online ISBN: 978-3-319-18299-5

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