DocumentCode
414248
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
Volume
2
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
1097
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1307971
Filename
1307971
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