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An integrated testbed for cooperative perception with heterogeneous mobile and static sensors
Adrián Jiménez-González1, José Ramiro Martínez-De Dios, Aníbal Ollero
1Robotics Vision and Control Group, University of Sevilla, Escuela Superior de Ingenieros, c/Camino de los Descubrimientos, s/n 41092 Seville, Spain. adrianjg@cartuja.us.es
This study introduces a remote testbed for evaluating cooperative algorithms in heterogeneous systems, like mobile robots and Wireless Sensor Networks (WSN). It addresses the scarcity of experimental tools for comparing cooperative perception technologies.
Area of Science:
- Robotics and Distributed Systems
- Wireless Sensor Networks
- Cooperative Perception
Background:
- Cooperation among heterogeneous devices offers significant potential for applications like intelligent cities and environmental monitoring.
- Existing experimental tools for evaluating cooperative algorithms in these diverse systems are limited.
- Heterogeneous technologies present challenges in integration due to varying sensing, computing, and communication capabilities.
Purpose of the Study:
- To present a novel remote testbed for the evaluation and comparison of cooperative algorithms.
- To facilitate research in cooperative perception using heterogeneous mobile robots and Wireless Sensor Networks (WSN).
- To provide an accessible platform for developing and testing decentralized and centralized cooperative approaches.
Main Methods:
- Development of a remote testbed integrating mobile robots and WSN with low-cost, off-the-shelf sensors.
- Implementation of an open, modular architecture with a bidirectional protocol for seamless interoperability.
- Integration of standard tools and interfaces for enhanced usability and extensibility.
- Support for various decentralization levels, from fully distributed to centralized systems.
Main Results:
- The testbed successfully integrates heterogeneous mobile robots and WSN, enabling full interaction.
- The bidirectional protocol and modular architecture facilitate tight integration and interoperability.
- The platform supports remote control via the Internet, allowing numerous experiments.
- Standardized interfaces enhance usability and promote code reuse for future extensions.
Conclusions:
- The developed remote testbed effectively addresses the scarcity of experimental tools for cooperative algorithms.
- The platform enables robust evaluation of cooperative perception strategies in heterogeneous environments.
- It serves as a valuable resource for researchers and developers in robotics and WSN cooperation.
