| Title | Security Robot for Real-time Monitoring and Capturing |
| Publication Type | Conference Paper |
| Year of Publication | 2021 |
| Authors | Vijayasundara, S.M., Udayangani, N.K.S., Camillus, P.E., Jayatunga, E.H. |
| Conference Name | 2021 10th International Conference on Information and Automation for Sustainability (ICIAfS) |
| Keywords | Adaptive Monte Carlo Localization, autonomous navigation, Collaboration, human factors, Laser radar, Monte Carlo methods, Navigation, Navigation Stack, policy-based governance, pubcrawl, Real-time Systems, resilience, Resiliency, Robot kinematics, robot operating systems security, Robot sensing systems, security |
| Abstract | Autonomous navigation of a robot is more challenging in an uncontrolled environment owing to the necessity of coordination among several activities. This includes, creating a map of the surrounding, localizing the robot inside the map, generating a motion plan consistent with the map, executing the plan with control and all other tasks involved concurrently. Moreover, autonomous navigation problems are significant for future robotics applications such as package delivery, security, cleaning, agriculture, surveillance, search and rescue, construction, and transportation which take place in uncontrolled environments. Therefore, an attempt has been made in this research to develop a robot which could function as a security agent for a house to address the aforesaid particulars. This robot has the capability to navigate autonomously in the prescribed map of the operating zone by the user. The desired map can be generated using a Light Detection and Ranging (LiDAR) sensor. For robot navigation, it requires to pick out the robot location accurately itself, otherwise robot will not move autonomously to a particular target. Therefore, Adaptive Monte Carlo Localization (AMCL) method was used to validate the accuracy of robot localization process. Moreover, additional sensors were placed around the building to sense the prevailing security threats from intruders with the aid of the robot. |
| DOI | 10.1109/ICIAfS52090.2021.9606058 |
| Citation Key | vijayasundara_security_2021 |
Security Robot for Real-time Monitoring and Capturing