Autonomous Intruder Detection Using a ROS-Based Multi-Robot System Equipped with 2D-LiDAR Sensors

@article{Islam2020AutonomousID,
  title={Autonomous Intruder Detection Using a ROS-Based Multi-Robot System Equipped with 2D-LiDAR Sensors},
  author={Mashnoon Islam and Touhid Ahmed and Abu Tammam Bin Nuruddin and Mashuda Islam and Shahnewaz Siddique},
  journal={2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
  year={2020},
  pages={326-333}
}
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… 
View on IEEE
arxiv.org

Figures and Tables from this paper

References

SHOWING 1-10 OF 37 REFERENCES

Autonomous intruder detection system using wireless networked mobile robots

Performance results show that the fusion of redundant information from different sensors can increase the accuracy of a system and reduce overall uncertainty in intruder detection applications.

Obstacle detection using a 2D LIDAR system for an Autonomous Vehicle

  • Angelo Nikko CatapangM. Ramos
  • Environmental Science, Mathematics
    2016 6th IEEE International Conference on Control System, Computing and Engineering (ICCSCE)
  • 2016
This research characterizes an inexpensive 2D LIDar system using the LIDAR-Lite v1 for use in obstacle detection for autonomous vehicles and shows that obstacles with widths of 1 meter can be detected at distances of 10 meters.

ROS-Based Human Detection and Tracking from a Wireless Controlled Mobile Robot Using Kinect

Experimental results validate the performance of the proposed system for wirelessly controlling the mobile robot to track humans in a real-world environment.

Design and Implementation of an Autonomous Indoor Surveillance Robot based on Raspberry Pi

An autonomous surveillance robot that is being developed while keeping the development costs as low as possible and is capable of performing routine patrols autonomously in indoor environments and detect anomalies around it such as temperature fluctuations, unauthorized personals and report them back to a central computer.

Coordination in a multi-robot surveillance application using Wireless Sensor Networks

This paper investigates the problem of multi-robot coordination for target tracking and capturing and devised three mechanisms: centralized, distributed and market-based algorithms, which were extensively evaluated under the Player/Stage simulator.

Aerial SLAM with a single camera using visual expectation

An appearance-based approach to visual SLAM on a flying MAV using only low quality vision, consisting of a visual place recognition algorithm that operates on 1000 pixel images, a lightweight visual odometry algorithm, and a visual expectation algorithm that improves the recall of place sequences and the precision with which they are recalled as the robot flies along a similar path.

Tracking People in a Mobile Robot From 2D LIDAR Scans Using Full Convolutional Neural Networks for Security in Cluttered Environments

A tool named PeTra based on an off-line trained full Convolutional Neural Network capable of tracking pairs of legs in a cluttered environment is described and its accuracy is evaluated using a dataset from a public repository.

A Generalized Extended Kalman Filter Implementation for the Robot Operating System

A software package, robot_localization, for the robot operating system (ROS), which can support an unlimited number of inputs from multiple sensor types, and allows users to customize which sensor data fields are fused with the current state estimate.

Cooperative Surveillance System with Fixed Camera Object Localization and Mobile Robot Target Tracking

By proposing this system, the dead spot problem in typical surveillance systems with only fixed cameras is considered and resolved.

The obstacle detection and obstacle avoidance algorithm based on 2-D lidar

An efficient obstacle detection and obstacle avoidance algorithm based on 2-D lidar is proposed to get the information of obstacles by filtering and clustering the laser-point cloud data and generates the forward angle and velocity of robot based on the principle of minimum cost function.