Title :
A decentralized architecture for Active Sensor Networks
Author :
Makarenko, Alexei ; Brooks, Alex ; Williams, Stefan ; Durrant-Whyte, Hugh ; Grocholsky, Ben
Author_Institution :
ARC Centre of Excellence in Autonomous Syst., Sydney Univ., NSW, Australia
fDate :
April 26-May 1, 2004
Abstract :
The paper presents a decentralized approach to the solution of the distributed information gathering problem. The main design objectives are scalability with the number of network components, maximum flexibility in implementation and deployment, and robustness to component and communication failure. The design approach emphasizes interactions between components rather than the definition of the components themselves. The architecture specifies a small set of interfaces sufficient to implement a wide range of information gathering systems. The results of two deployment scenarios on an indoor sensor network are presented.
Keywords :
distributed processing; distributed sensors; mobile robots; multi-robot systems; sensor fusion; active sensor networks; communication failure; decentralized architecture; distributed information gathering problem; mobile robots; multi-robot systems; network components; robustness; scalability; sensor fusion; Content addressable storage; Control systems; Humans; Intelligent sensors; Laboratories; Robot sensing systems; Robustness; Routing protocols; Sensor fusion; Sensor systems;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307971