Toward Intelligent Security Robots: A Survey <s> E. Core Security Applications <s> Abstract : The Naval Command Control and Ocean Surveillance Center (NCCOSC) has developed an architecture to provide coordinated control of multiple autonomous vehicles from a single host console. The Multiple Robot Host Architecture (MRHA) is a distributed multiprocessing system that can be expanded to accommodate as many as 32 robots. The initial application will employ eight Cybermotion K2A Navmaster robots configured as remote Security platforms in support of the Mobile Detection Assessment and Response System (MDARS) Program. This paper discusses developmental testing of the MRHA in an operational warehouse environment with two actual and four simulated robotic platforms. <s> BIB001 </s> Toward Intelligent Security Robots: A Survey <s> E. Core Security Applications <s> ROBART III is an advanced demonstration platform for non- lethal security response measures, incorporating reflexive teleoperated control concepts developed on the earlier ROBART II system. The addition of threat-response capability to the detection and assessment features developed on previous systems has been motivated by increased military interest in Law Enforcement and Operations Other Than War. Like the MDARS robotic security system being developed at NCCOSC RDTE DIV, ROBART III will be capable of autonomously navigating in semi-structured environments such as office buildings and warehouses. Reflexive teleoperation mode employs the vehicle's extensive onboard sensor suite to prevent collisions with obstacles when the human operator assumes control and remotely drives the vehicle to investigate a situation of interest. The non-lethal-response weapon incorporated in the ROBART III system is a pneumatically-powered dart gun capable of firing a variety of 3/16-inch-diameter projectiles, including tranquilizer darts. A Gatling-gun style rotating barrel arrangement allows size shots with minimal mechanical complexity. All six darts can be fired individually or in rapid succession, and a visible-red laser sight is provided to facilitate manual operation under joystick control using video relayed to the operator from the robot's head-mounted camera. This paper presents a general description of the overall ROBART III system, with focus on sensor-assisted reflexive teleoperation of both navigation and weapon firing, and various issues related to non-lethal response capabilities.© (1997) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only. <s> BIB002 </s> Toward Intelligent Security Robots: A Survey <s> E. Core Security Applications <s> Abstract : The initial effort during Phase I of the Mobile Detection Assessment and Response System (MDARS) Program was aimed at demonstrating the feasibility of a single robotic security platform operating under the high-level control of a remote host with the direct supervision of a human operator. This document describes the concept of a distributed host architecture geared towards a single guard controlling up to eight robots and explores some of the key issues that were considered in the actual development. The objective is to field a supervised robotic security system that basically runs itself until an exceptional condition is encountered that requires human intervention. A globally shared world model is maintained to provide a real-time collision avoidance capability complementing the Cybermotion virtual path navigation scheme employed on their K2A robotic platform. A centralized database of high-value inventory is routinely compared with observed inventory as monitored by interactive RF tag-reading systems onboard the patrolling robots. Each robot is equipped with microwave and passive infrared motion detection sensors providing full 360-degree coverage, and an intelligent security assessment algorithm is employed to maximize the probability of detection while simultaneously filtering out nuisance alarms. <s> BIB003 </s> Toward Intelligent Security Robots: A Survey <s> E. Core Security Applications <s> One crucial application of intelligent robotic systems is remote surveillance using a security robot. A fundamental need in security is the ability to automatically verify an intruder into a secure or restricted area, to alert remote security personnel, and then to enable them to track the intruder. In this article, we propose an Internet-based security robot system. The face recognition approach possesses "invariant" recognition characteristics, including face recognition where facial expressions, viewing perspectives, three-dimensional poses, individual appearance, and lighting vary and occluding structures are present. The experiment uses a 33.6-kb/s modem Internet connection to successfully remotely control a mobile robot, proving that the streaming technology-based approach greatly improves the "sensibility" of robot teleoperation. This improvement ensures that security personnel can effectively and at low cost use the Internet to remotely control a mobile robot to track and identify a potential intruder. <s> BIB004
Despite the fact that interaction-aware security robots seem to be far from real-life applications, researchers have focused their interests in different perspectives for the identification of anomalies and crime. A fundamental requirement in intelligent security, which has attracted a lot of attention, is the reconnaissance ability, such as automatically identifying an illegal intrusion, and keeping track of an intruder when enters a restricted area. For the implementation of such high-level surveillance, biometrics have been used as the science of identifying or verifying the identity of a person. Such characteristics emphasize on facial appearance, palm print recognition, signatures, voiceprint, and other biometrics BIB004 . Some of the core applications introduced in mobile security regard cases where biometrics and behavior identification techniques play a vital role. In the following, three security applications disclose the most prominent applications. Access Control: In some security-sensitive locations, such as military bases and central governmental units, biometric techniques are applied to create unique identities to personnel who have been authorized to get permission entrance beforehand. Similar to the analysis of Hu et al.  , security robots or other surveillance systems confront people who enter access-control areas, by automatically obtaining the biometric features. These features regard height, facial appearance, skin color, and other physical characteristics taken from images in real time to finally decide whether the person can have access for entry. Person Identification: Ground truth or remote person identification, which is employed by "smart" surveillance systems, can help the police and other security services to identify suspects and suspected behaviors. Hu et al.  reported several security robots that hold a biometric feature database of suspects. In the literature, several robots embodied with visual surveillance systems have been placed at various crime-sensitive locations, such as subway stations, casinos, and other congested areas. The purpose was to monitor peoples abnormal behaviors by acquiring their biometrics. Such robots and other analogous surveillance systems incorporating biometrics acquisition have already been used at public sites by the police  and army BIB002 , BIB001 , BIB003 . Anomaly Detection and Alarming: In some circumstances, it is necessary to analyze the behaviors of people and determine whether these behaviors are normal, abnormal, or criminal. For example, visual surveillance systems set in parking lots and supermarkets have been used by humans to monitor whether the behaviors captured by random individuals are being identified as abnormal. Previously, the methods utilized to alarm suspected behaviors were the following: making public announcements, signaling local/private security guards, or contacting the police  . Modern surveillance security use alternative methods such as security robot guards, incorporating the identification of anomalies based on different kinds of abnormal behaviors, and alarm remote personnel automatically (see Table III ). The recognizance ability as a special faculty to identify abnormal behaviors is not the only issue to be accounted. The development of confrontation scenarios as well as alarming methodologies used to confront human abnormal behaviors is a secondary but still immensely decisive factor.