Operator control of shared resources in sensor networks

Strömberg, Dan; Lantz, Fredrik

doi:10.1109/icif.2003.177498

Cited by 5 publications

(2 citation statements)

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“…An experiment where operators perform the task of making data association decisions in a group-tracking scenario addresses some of these issues. Another approach where operators are decision makers is discussed in [12]. Each mobile or fixed platform has an allocated sensor operator responsible for the on-board information resources.…”

Section: Related Workmentioning

confidence: 99%

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Operators as information sources in sensor networks

Kaupp

Makarenko

Kumar

et al. 2005

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents an approach of integrating human operators into a sensor network formed by a heterogeneous team of unmanned air and ground vehicles. Several objectives of human-network interaction are identified. The main focus of this work is on human-to-network information flow, i.e. human operators are regarded as information sources. It is argued that operators should make raw observations which are converted into the sensor network's common representation by a probabilistic model. The concepts are discussed in the context of an outdoor sensor network under development. Human operators contribute geometric feature information in the form of range and bearing observations. Visual feature properties are specified via meaningful class labels. A sensor model, represented as a Bayesian network, translates label observations into the system's representation. The model is also used to classify features as observed by robotic sensors.

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Section: Related Workmentioning

confidence: 99%

“…Additionally, some system models put the "human in the loop", i.e. operators can participate in making decisions [1], [10], [12].…”

Section: Related Workmentioning

confidence: 99%

Operators as information sources in sensor networks

Kaupp

Makarenko

Kumar

et al. 2005

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Shared environment representation for a human‐robot team performing information fusion

Kaupp

Douillard

Ramos

et al. 2007

Journal of Field Robotics

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This paper addresses the problem of building a shared environment representation by a human-robot team. Rich environment models are required in real applications for both autonomous operation of robots and to support human decision-making. Two probabilistic models are used to describe outdoor environment features such as trees: geometric ͑position in the world͒ and visual. The visual representation is used to improve data association and to classify features. Both models are able to incorporate observations from robotic platforms and human operators. Physically, humans and robots form a heterogeneous sensor network. In our experiments, the human-robot team consists of an unmanned air vehicle, a ground vehicle, and two human operators. They are deployed for an information gathering task and perform information fusion cooperatively. All aspects of the system including the fusion algorithms are fully decentralized. Experimental results are presented in form of the acquired multi-attribute feature map, information exchange patterns demonstrating human-robot information fusion, and quantitative model evaluation. Learned lessons from deploying the system in the field are also presented.

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