Autonomous Intruder Detection Using a ROS-Based Multi-Robot System Equipped with 2D-LiDAR Sensors

• URL: http://arxiv.org/abs/2011.03838v1
• Date: Sat, 7 Nov 2020 19:49:07 GMT
• Title: Autonomous Intruder Detection Using a ROS-Based Multi-Robot System Equipped with 2D-LiDAR Sensors
• Authors: Mashnoon Islam, Touhid Ahmed, Abu Tammam Bin Nuruddin, Mashuda Islam, Shahnewaz Siddique
• Abstract summary: This paper proposes a multi-robot system for intruder detection in a single-range-sensor-per-robot scenario with centralized processing of detections from all robots by our central bot MIDNet. This work is aimed at providing an autonomous multi-robot security solution for a warehouse in the absence of human personnel.
• Score: 0.5512295869673147
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: The application of autonomous mobile robots in robotic security platforms is becoming a promising field of innovation due to their adaptive capability of responding to potential disturbances perceived through a wide range of sensors. Researchers have proposed systems that either focus on utilizing a single mobile robot or a system of cooperative multiple robots. However, very few of the proposed works, particularly in the field of multi-robot systems, are completely dependent on LiDAR sensors for achieving various tasks. This is essential when other sensors on a robot fail to provide peak performance in particular conditions, such as a camera operating in the absence of light. This paper proposes a multi-robot system that is developed using ROS (Robot Operating System) for intruder detection in a single-range-sensor-per-robot scenario with centralized processing of detections from all robots by our central bot MIDNet (Multiple Intruder Detection Network). This work is aimed at providing an autonomous multi-robot security solution for a warehouse in the absence of human personnel.

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