Accession Number : ADA265003


Title :   Intelligent Security Assessment for a Mobile Robot


Descriptive Note : Professional paper


Corporate Author : NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA


Personal Author(s) : Smurlo, Richard P


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a265003.pdf


Report Date : Mar 1993


Pagination or Media Count : 11


Abstract : In many robotics applications the data from different types of sensors must be fused to provide useful information about the surrounding environment. The system described here uses sensor fusion to determine the probability that an intruder is present in the vicinity of a remote robot. Several of these robots are employed in an indoor security scenario, where each robot monitors a different region of a large building and reports back intruder information to a single operator. This paper examines the realtime security assessment algorithm used by each robot to fuse information from 82 sensors of five different types, and return a single composite threat value to the operator. The algorithm described has been successfully tested on a single robot with 99% probability of detection achieved. No nuisance alarms were recorded.


Descriptors :   *ROBOTICS , *ARTIFICIAL INTELLIGENCE , STATE OF THE ART , MONITORS


Subject Categories : Bionics


Distribution Statement : APPROVED FOR PUBLIC RELEASE