Toward Intelligent Security Robots: A Survey <s> B. Distributed Security Robots <s> The Mobile Detection Assessment Response System (MDARS) provides physical security for Department of Defense bases and depots using autonomous unmanned ground vehicles (UGVs) to patrol the site while operating payloads for intruder detection and assessment, barrier assessment, and product assessment. MDARS is in the System Development and Demonstration acquisition phase and is currently undergoing developmental testing including an Early User Appraisal (EUA) at the Hawthorne Army Depot, Nevada-the world's largest army depot. The Multiple Resource Host Architecture (MRHA) allows the human guard force to command and control several MDARS platforms simultaneously. The MRHA graphically displays video, map, and status for each resource using wireless digital communications for integrated data, video, and audio. Events are prioritized and the user is prompted with audio alerts and text instructions for alarms and warnings. The MRHA also interfaces to remote resources to automate legacy physical devices such as fence gate controls, garage doors, and remote power on/off capability for the MDARS patrol units. This paper provides an overview and history of the MDARS program and control station software with details on the installation and operation at Hawthorne Army Depot, including discussions on scenarios for EUA excursions. Special attention is given to the MDARS technical development strategy for spiral evolutions. <s> BIB001 </s> Toward Intelligent Security Robots: A Survey <s> B. Distributed Security Robots <s> In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted. <s> BIB002
The distributed class is a blend of several different categories of network and multiagent robots, including distributed and ubiquitous BIB001 architectures. These architectures implement robots with autonomous capabilities, which, however, depend on their team members or on a global network in order to take decisions. Their perception and action faculties are normally identical for all the members. Superior faculties appear only by a master robot if any, which plans a scenario and distributes the result (decision) to the slave members for execution. Collective intelligence has always been a cognitive artifact where agents with distributed characteristics share knowledge in order to carry out a mission. As in many research fields of robotics, the security domain showed particular interest in such methodologies where cooperated robots utilize collective behaviors for information acquisition and assistance, contributing toward the accomplishment of a task. Distributed security robots have been used extensively in surveillance, monitoring, and intruder identification tasks. A very famous branch of distributed robotics is referred to the ubiquitous robots. Ubiquitous security architectures and network robots integrate mobile vehicles, sensors, communication links, and mobile devices in an intelligent and cooperative manner BIB002 to monitor or guard indoor or outdoor locations. The architectures accommodate ubiquitous designs that interface the perception part (networked sensors) with the action part (scenario planning) accomplished by mobile robots. From these designs, a single or multiple robots communicate through the ubiquitous network aiming toward the completion of a mission. The network sensor technology used nowadays includes environmental sensors, marker-based sensors, and charge-coupled device cameras. Apart from the advanced autonomy provided by such architectures, the human factor plays a vital role in taking superior decisions when critical events come into the foreground. Ubiquitous security interfaces intend to merge stateof-the-art network technology, combining static sensors with mobile platforms to fight crime. In this section, we examine both conventional distributed robots and specialized distributed architectures with respect to ubiquitous robots. Table II lists some of the distributed and ubiquitous robot projects that have been found in the literature.