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dc.contributor.authorMartí Avilés, José Vicente
dc.contributor.authorSales Gil, Jorge
dc.contributor.authorMarín Prades, Raúl
dc.contributor.authorSanz Valero, Pedro José
dc.date.accessioned2017-07-25T10:22:30Z
dc.date.available2017-07-25T10:22:30Z
dc.date.issued2013
dc.identifier.citationMulti-Sensor Localization and Navigation for Remote Manipulation in Smoky Areas. Jose Vicente Marti, Jorge Sales, Raul Marin, Pedro Sanz. International Journal of Advanced Robotic Systems. Vol 10, Issue 4. January-01-2013 10.5772/55808ca_CA
dc.identifier.issn1729-8806
dc.identifier.issn1729-8814
dc.identifier.urihttp://hdl.handle.net/10234/168406
dc.description.abstractWhen localizing mobile sensors and actuators in indoor environments laser meters, ultrasonic meters or even image processing techniques are usually used. On the other hand, in smoky conditions, due to a fire or building collapse, once the smoke or dust density grows, optical methods are not efficient anymore. In these scenarios other type of sensors must be used, such as sonar, radar or radiofrequency signals. Indoor localization in low-visibility conditions due to smoke is one of the EU GUARDIANS [1] project goals. The developed method aims to position a robot in front of doors, fire extinguishers and other points of interest with enough accuracy to allow a human operator to manipulate the robot's arm in order to actuate over the element. In coarse-grain localization, a fingerprinting technique based on ZigBee and WiFi signals is used, allowing the robot to navigate inside the building in order to get near the point of interest that requires manipulation. In fine-grained localization a remotely controlled programmable high intensity LED panel is used, which acts as a reference to the system in smoky conditions. Then, smoke detection and visual fine-grained localization are used to position the robot with precisely in the manipulation point (e.g., doors, valves, etc.).ca_CA
dc.description.sponsorShipEU-VI Framework Programme of the EC Cognitive Systems initiative IST-045269-GUARDIANS Spanish Ministry of Education and Science (MEC) AP2006-00222 Bancaja-UJI research programme RETA(P1-1B209-39) Spanish National CICYT TIN2009-14475-C04 Spanish Ministry of Research and Innovation (TRITON project) DPI2011-27977-C03 European Commission's Seventh Framework Programme FP7 (TRIDENT Project) 248497 Foundation Caixa Castello-Bancaixa PI.1B2011-17 Generalitat Valenciana ACOMP/2012/252ca_CA
dc.format.extent8 p.ca_CA
dc.format.mimetypeapplication/pdfca_CA
dc.language.isoengca_CA
dc.publisherSAGE Publicationsca_CA
dc.publisherInTechca_CA
dc.relation.isPartOfInt J Adv Robotic Sy, 2013, Vol. 10, 211:2013ca_CA
dc.rights© 2013 Marti; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.ca_CA
dc.rightsAtribución 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectMultisensor Indoor Localizationca_CA
dc.subjectSmokeca_CA
dc.subjectFingerprintingca_CA
dc.subjectRSSIca_CA
dc.subjectZigBeeca_CA
dc.subjectWiFica_CA
dc.titleMulti-sensor localization and navigation for remote manipulation in smoky areasca_CA
dc.typeinfo:eu-repo/semantics/articleca_CA
dc.identifier.doihttp://dx.doi.org/10.5772/55808
dc.rights.accessRightsinfo:eu-repo/semantics/openAccessca_CA
dc.relation.publisherVersionhttp://journals.sagepub.com/doi/full/10.5772/55808#articleCitationDownloadContainerca_CA


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© 2013 Marti; licensee InTech. This is an open access article distributed under the terms of the Creative
Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use,
distribution, and reproduction in any medium, provided the original work is properly cited.
Except where otherwise noted, this item's license is described as © 2013 Marti; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.