The ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrol robot: in contrast with most approaches in literature, we show how a positioning subsystem composed exclusively of a non-differential GPS unit (i.e., without inertial sensors) is enough to ensure accurate estimates of the robot's position and orientation, under the assumption of non-holonomic kinematics
This paper introduces ANSER, a mobile robot designed to perform surveillance in wide indoor and outdoor areas, such as civilian airports, warehouses or other facilities. The paper describes in details the robot subsystems, focusing on their capabilities in autonomous surveillance, localization and navigation.
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