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Covert Robotics: Improving Covertness with Escapability and Non-Line-of-Sight Sensing

  • Conference paper
Towards Autonomous Robotic Systems (TAROS 2011)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6856))

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Abstract

Covert robotics is an application that presents many challenges in perception, modeling, and planning due to the need to minimize visibility within the environment while perceiving as much as possible and reacting to appropriate events. We have modified a Pioneer 3-AT robot for night operation and incorporated a microphone array for acoustic sensing of sentries. Extending previous research [1] [2] [3], we have developed a novel method for considering the value of goals with respect to escap-ability: a measure of the degree that a location affords escape if detection is imminent (Fig. 1). Our simulation analysis demonstrates that using an escapability value for goal selection results in a 25 percent decrease in the time a robot is visible to a sentry.

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References

  1. Tews, A.D., Sukhatme, G.S., Mataric, M.J.: A Multi-Robot Approach to Stealthy Navigation in the Presence of an Observer. In: Proc. IEEE Int. Conf. Robotics and Automation, pp. 2379–2385. IEEE, Los Alamitos (2004)

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  2. Marzouqi, M.S., Jarvis, R.A.: Covert Robotics: Covert Path Planning in Unknown Environments. In: Proc. of the Australasian Conference on Robotics and Automation (2004)

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  3. Marzouqi, M.S., Jarvis, R.A.: Covert Robotics: Hiding in Known Environments. In: Proc. IEEE Conf. on Robotics, Automation and Mechatronics, pp. 804–809. IEEE, Los Alamitos (2004)

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Author information

Authors and Affiliations

  1. Lockheed Martin Advanced Technology Laboratories, Cherry Hill, NJ, USA

    Tom Moore, Richard Ratmansky, Bob Chevalier, David Sharp, Vincent Baker & Brian Satterfield

Authors
  1. Tom Moore
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  2. Richard Ratmansky
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  3. Bob Chevalier
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  4. David Sharp
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  5. Vincent Baker
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  6. Brian Satterfield
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Editor information

Editors and Affiliations

  1. Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, S1 3JD, Sheffield, UK

    Roderich Groß

  2. Materials and Engineering Research Institute, Sheffield Hallam University, City Campus, Horward Street, S1 1WB, Sheffield, UK

    Lyuba Alboul  & Jacques Penders  & 

  3. Department of Computing, Engineering and Mathematical Sciences, Bristol Robotics Laboratory (BRL), University of Bristol and the West of England, Bristol Business Park, BS16 1QD, Bistol, UK

    Chris Melhuish

  4. Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, SW7 2BT, London, UK

    Mark Witkowski

  5. Department of Psychology, The University of Sheffield, Wstern Bank, S10 2TN, Sheffield, UK

    Tony J. Prescott

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© 2011 Springer-Verlag Berlin Heidelberg

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Moore, T., Ratmansky, R., Chevalier, B., Sharp, D., Baker, V., Satterfield, B. (2011). Covert Robotics: Improving Covertness with Escapability and Non-Line-of-Sight Sensing. In: Groß, R., Alboul, L., Melhuish, C., Witkowski, M., Prescott, T.J., Penders, J. (eds) Towards Autonomous Robotic Systems. TAROS 2011. Lecture Notes in Computer Science(), vol 6856. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23232-9_40

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  • DOI: https://doi.org/10.1007/978-3-642-23232-9_40

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-23231-2

  • Online ISBN: 978-3-642-23232-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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