A testbed for autonomous robot surveillance
Stefan J. Witwicki (École Polytechnique Fédérale de Lausanne)
José Carlos Castillo (Carlos III University of Madrid)
Jesús Capitán (University of Seville)
João V. Messias (Universidade de Lisboa)
João C. Reis (Universidade de Lisboa)
Pedro U. Lima (Universidade Técnica de Lisboa)
Francisco S. Melo (Universidade de Lisboa)
Matthijs T.J. Spaan (TU Delft - Algorithmics)
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Abstract
This demo paper serves to describe a research platform for autonomous surveillance by mobile robots. System components from various technical disciplines (including robot navigation, computer vision, discrete event systems, and human-computer interaction) have been combined together into a cohesive, modular system architecture. We employ our architecture to experiment with state-of-the-art methods in planning and decision making under uncertainty, which we demonstrate enable robots to effectively patrol and respond to surveillance events in a large indoor environment.
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