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Indoor Surveillance Application using Wireless Robots and Sensor Networks: Coordination and Path Planning

Indoor Surveillance Application using Wireless Robots and Sensor Networks: Coordination and Path Planning

Anis Koubaa, Sahar Trigui, Imen Chaari
Copyright: © 2013 |Pages: 39
ISBN13: 9781466626584|ISBN10: 1466626585|EISBN13: 9781466626898
DOI: 10.4018/978-1-4666-2658-4.ch002
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MLA

Koubaa, Anis, et al. "Indoor Surveillance Application using Wireless Robots and Sensor Networks: Coordination and Path Planning." Mobile Ad Hoc Robots and Wireless Robotic Systems: Design and Implementation, edited by Raul Aquino Santos, et al., IGI Global, 2013, pp. 19-57. https://doi.org/10.4018/978-1-4666-2658-4.ch002

APA

Koubaa, A., Trigui, S., & Chaari, I. (2013). Indoor Surveillance Application using Wireless Robots and Sensor Networks: Coordination and Path Planning. In R. Santos, O. Lengerke, & A. Edwards-Block (Eds.), Mobile Ad Hoc Robots and Wireless Robotic Systems: Design and Implementation (pp. 19-57). IGI Global. https://doi.org/10.4018/978-1-4666-2658-4.ch002

Chicago

Koubaa, Anis, Sahar Trigui, and Imen Chaari. "Indoor Surveillance Application using Wireless Robots and Sensor Networks: Coordination and Path Planning." In Mobile Ad Hoc Robots and Wireless Robotic Systems: Design and Implementation, edited by Raul Aquino Santos, Omar Lengerke, and Arthur Edwards-Block, 19-57. Hershey, PA: IGI Global, 2013. https://doi.org/10.4018/978-1-4666-2658-4.ch002

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Abstract

Mobile robots and Wireless Sensor Networks (WSNs) are enabling technologies of ubiquitous and pervasive applications. Surveillance is one typical example of such applications for which the literature proposes several solutions using mobile robots and/or WSNs. However, robotics and WSNs have mostly been considered as separate research fields, and little work has investigated the marriage of these two technologies. In this chapter, the authors propose an indoor surveillance application, SURV-TRACK, which controls a team of multiple cooperative robots supported by a WSN infrastructure. They propose a system model for SURV-TRACK to demonstrate how robots and WSNs can complement each other to efficiently accomplish the surveillance task in a distributed manner. Furthermore, the authors investigate two typical underlying problems: (1) Multi-Robot Task Allocation (MRTA) for target tracking and capturing and (2) robot path planning. The novelty of the solutions lies in incorporating a WSN in the problems’ models. The authors believe that this work advances the literature by demonstrating a concrete ubiquitous application that couples robotic and WSNs and proposes new solutions for path planning and MRTA problems.

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