loading
Papers

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Janne Haverinen ; Anssi Kemppainen ; Janne Kivijakola and Juha Röning

Affiliation: University of Oulu, Finland

ISBN: 978-972-8865-83-2

Keyword(s): Multi-robot system, distributed sensing, laser, range sensing.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This paper presents a modular multirobot system developed for distributed sensing experiments. The multirobot system is composed of modular small size robots, which have various sensor capabilities including a color stereo camera system and an infrared based sensor for infrastructure independent relative pose estimation of robots. The paper describes the current state of the multirobot system introducing the robots, their sensor capabilites, and some initial experiments conducted with the system. The experiments include a distributed structured light based 3-D scanning experiment involving two robots, and an experiment where a group of robots arrange into a spatial formation and measures distributions of light and magnetic field of an environment. The experiments demonstrate how the proposed multirobot system can be used to extract information from the environment, and how they can cooperatively perform non trivial tasks, like 3-D scanning, which is a difficult task for a single small size robot due to limitations of current sensing technologies. The distributed 3-D scanning method introduced in this paper demonstrates how multirobot system’s inherent properties, i.e. spatial distribution and mobility, can be utilized in a novel way. The experiment demonstrates how distributed measurement devices can be created, in which each robot has an unique role as a part of the device, and in which the mobility of the robots provides flexibility to the structure of the measurement system. (More)

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 35.168.111.191

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Haverinen J.; Kemppainen A.; Kivijakola J.; Röning J. and (2007). A MULTIROBOT SYSTEM FOR DISTRIBUTED SENSING.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 137-142. DOI: 10.5220/0001649601370142

@conference{icinco07,
author={Janne Haverinen and Anssi Kemppainen and Janne Kivijakola and Juha Röning},
title={A MULTIROBOT SYSTEM FOR DISTRIBUTED SENSING},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={137-142},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001649601370142},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - A MULTIROBOT SYSTEM FOR DISTRIBUTED SENSING
SN - 978-972-8865-83-2
AU - Haverinen, J.
AU - Kemppainen, A.
AU - Kivijakola, J.
AU - Röning, J.
PY - 2007
SP - 137
EP - 142
DO - 10.5220/0001649601370142

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.