Please use this identifier to cite or link to this item: https://doi.org/10.1007/s10846-021-01398-y
Title: An Intelligent Auto-Organizing Aerial Robotic Sensor Network System for Urban Surveillance
Authors: LEONG WAI LUN 
Martinel, Niki
HUANG SUNAN 
Micheloni, Christian
Foresti, Gian Luca
Teo Swee Huat Rodney 
Keywords: Networked swarms
Sensor networks
Smart sensors
Unmanned aerial vehicles
Autonomous systems
Multi robot systems
Issue Date: 17-May-2021
Publisher: Springer Science and Business Media LLC
Citation: LEONG WAI LUN, Martinel, Niki, HUANG SUNAN, Micheloni, Christian, Foresti, Gian Luca, Teo Swee Huat Rodney (2021-05-17). An Intelligent Auto-Organizing Aerial Robotic Sensor Network System for Urban Surveillance. Journal of Intelligent & Robotic Systems 102 (2). ScholarBank@NUS Repository. https://doi.org/10.1007/s10846-021-01398-y
Abstract: We have developed and demonstrated an intelligent auto-organizing aerial robotic sensor network system composed of cameras installed on UAVs and ground fixtures for urban surveillance using the decentralised control paradigm. The system can auto-organize to meet user requirements, changes to user requirements and when new UAVs or ground cameras are added or are lost due to failure. User designated targets can be automatically tracked and handed over from one camera to another, to ensure continuous tracking. The cameras can also self adjust their positions and pointing angles to cooperatively cover areas of interest completely. We have achieved this by designing a software architecture for managing multiple interacting algorithms online and in parallel, facilitating incremental software development and debugging. We have adapted algorithms to become computationally efficient and effective for real world use online and on-board the UAVs, and ensured that the integration of video analytics and tactical behaviours work in real world settings. We have also achieved near optimal, online close coordination of the UAVs and ground cameras. To the best of our knowledge, this is the first proof-of-concept of a fully integrated intelligent auto-organizing aerial robotic sensor network system of cameras installed on UAVs and ground fixtures for urban surveillance.
Source Title: Journal of Intelligent & Robotic Systems
URI: https://scholarbank.nus.edu.sg/handle/10635/191925
ISSN: 0921-0296
1573-0409
DOI: 10.1007/s10846-021-01398-y
Appears in Collections:Staff Publications
Elements

Show full item record
Files in This Item:
File Description SizeFormatAccess SettingsVersion 
An_Intelligent_Auto_Organizing_Aerial_Robotic_Sensor_Network_System_for_Urban_Surveillance.pdfAccepted version16.85 MBAdobe PDF

OPEN

Post-print Available on 17-05-2022

Page view(s)

49
checked on Nov 18, 2021

Download(s)

1
checked on Nov 18, 2021

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.