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In the last few years, the amount of money spent on security has grown due to a number of factors. The surveillance system of buildings has particularly become an important issue to human daily life. This paper describes the development of a Multirobot system for building surveillance applications monitored through Internet. Each robot can handle some daily surveillance routine tasks. Sensor information...
Most of the mobile robot control frameworks are based on a middleware layer with several independent modules that implement primitive actions and report events about their state. These modules are usually connected with different interprocess communication mechanisms. Here, we propose to use hierarchical interpreted binary Petri nets to coordinate the activity of these modules. Tasks are described...
A new technique for enhancing global path planning for mobile robots working in partially known as indoor environments is presented in this paper. The method is based on a graph approach that adapts the cost of the paths by incorporating travelling time from real experiences. The approach uses periodical measurements of time and position reached by the robot while moving to the goal to modify the...
In this paper we present a CAN based communication system to connect sensors and actuators in a mobile robot platform and integrate them in a specific navigation architecture. The goal of this work is to provide a simple, flexible and open system that allows connecting different hardware components in a mobile robot. Sensor and actuator modules can be connected or disconnected to a computer while...
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