Title :
Distributed multi-modal sensor system for searching a foliage-covered region
Author :
Fetterman, Matt R. ; Hughes, Tadd ; Armstrong-Crews, Nicholas ; Barbu, Costin ; Cole, Kenneth ; Freking, Robert ; Hood, Kenta ; Lacirignola, Joseph ; McLarney, Michael ; Myne, Anu ; Relyea, Stephen ; Vian, Trina ; Vogl, Steven ; Weber, Zachary
Author_Institution :
MIT Lincoln Lab., Lexington, MA, USA
Abstract :
We designed and constructed a system that includes aircraft, ground vehicles, and throwable sensors to search a semi-forested region that was partially covered by foliage. The system contained 4 radio-controlled (RC) trucks, 2 aircraft, and 30 SensorMotes (throwable sensors). We also investigated communications links, search strategies, and system architecture. Our system is designed to be low-cost, contain a variety of sensors, and distributed so that the system is robust even if individual components are lost.
Keywords :
aerospace robotics; aircraft; distributed sensors; mobile robots; search problems; telecommunication links; telerobotics; vegetation mapping; SensorMotes; aircraft; distributed multimodal sensor system; foliage-covered region searching; radio-controlled trucks; semiforested region searching; system architecture; throwable sensors; Aircraft; Cameras; Land vehicles; Robot sensing systems; Videos; distributed sensors; remote-controlled; robotics; search; throwable sensors;
Conference_Titel :
Technologies for Practical Robot Applications (TePRA), 2011 IEEE Conference on
Conference_Location :
Woburn, MA
Print_ISBN :
978-1-61284-482-4
DOI :
10.1109/TEPRA.2011.5753473
