Toward Intelligent Security Robots: A Survey <s> D. Law-Enforcement Robots <s> ROBART III is intended as an advance demonstration platform for non-lethal response measures, extending the concepts of reflexive teleoperation into the realm of coordinated weapons control in law enforcement and urban warfare scenarios. A rich mix of ultrasonic and optical proximity and range sensors facilitates remote operation in unstructured and unexplored buildings with minimal operator supervision. Autonomous navigation and mapping of interior spaces is significantly enhanced by an innovative algorithm which exploits the fact that the majority of man-made structures are characterized by parallel and orthogonal walls. Extremely robust intruder detection and assessment capabilities are achieved through intelligent fusion of a multitude of inputs form various onboard motion sensors. Intruder detection is addressed by a 360-degree staring array of passive-IR motion detectors, augmented by a number of positionable head-mounted sensors. Automatic camera tracking of a moving target is accomplished using a video line digitizer. Non-lethal response systems include a six- barrelled pneumatically-powered Gatling gun, high-powered strobe lights, and three ear-piercing 103-decibel sirens. <s> BIB001 </s> Toward Intelligent Security Robots: A Survey <s> D. Law-Enforcement Robots <s> This paper reviews “socially interactive robots”: robots for which social human–robot interaction is important. We begin by discussing the context for socially interactive robots, emphasizing the relationship to other research fields and the different forms of “social robots”. We then present a taxonomy of design methods and system components used to build socially interactive robots. Finally, we describe the impact of these robots on humans and discuss open issues. An expanded version of this paper, which contains a survey and taxonomy of current applications, is available as a technical report [T. Fong, I. Nourbakhsh, K. Dautenhahn, A survey of socially interactive robots: concepts, design and applications, Technical Report No. CMU-RI-TR-02-29, Robotics Institute, Carnegie Mellon University, 2002]. © 2003 Elsevier Science B.V. All rights reserved. <s> BIB002
LERs are mostly autonomous and semiautonomous vehicles, which are deployed for crime-fighting episodes. BIB001 This class embodies advanced perception that elaborates high-level recognition, decision making, and scenario planning. LERs also address the issues mentioned for surveillance robots, by proficiently perceiving and interpreting human activity and behavior. This includes detecting and recognizing gestures or gates, monitoring and classifying responsive activities, and measuring the human feedback BIB002 . Despite the significant similarities, the fundamental difference between the surveillance and the lawenforcement class is that LERs employ versatile architectures to handle weaponry. This category includes robots with evolved as well as inspired characteristics from the surveillance category, where some of these robots are surveillance robots with special operational faculties to fight crime. Some of the faculties related to these robots are high-level surveillance and intruder detection, utilizing biometric feature analysis, fire, smoke, and gas detection, as well as gun or weapon recognition. Historically, we have seen that crime-fighting robots, such as the ones of this category, are meant to be autonomous, whereas their deployment considers crowded or highly sensitive areas. LERs are regarded as the third-generation security robots employed with enhanced capabilities to fight crime, and, recently, have become quite popular in mobile security. For this last category, some of the most popular LER projects have been collected and placed in Table IV .