Flexible sensor system configuration for a building support system of intelligent spaces

In order to build intelligent spaces based on many distributed sensors, it is necessary to know where the distributed sensors are placed in the spaces. We have proposed a system for supporting sensor position estimation to build large-scale intelligent spaces easily. The system is based on sharing global maps and positions of a mobile robot with distributed sensors. In this paper, the software modules based on RT-components with dynamic port connections among the robot and distributed sensors are introduced. Then, the online position estimation system of distributed sensors without restriction of sensor placement is achieved and a demonstration of building an intelligent space is shown.