ICRA'09 Paper Abstract


Paper FrA11.2

Oates, Robert Foster (University of Nottingham), Milford, Michael (The University of Queensland), Wyeth, Gordon (University of Queensland), Kendall, Graham (University of Nottingham), Garibaldi, Jonathan (University of Nottingham)

The Implementation of a Novel, Bio-Inspired, Robotic Security System

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots - I" (FrA11), Friday, May 15, 2009, 08:50−09:10, Room: 503

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Surveillance Systems, Identification and Security, Biologically-Inspired Robots


The implementation of a robotic security solution generally requires one algorithm to route the robot around the environment and another algorithm to perform anomaly detection. Solutions to the routing problem require the robot to have a good estimate of its own pose. We present a novel security system that uses metrics generated by the localisation algorithm to perform adaptive anomaly detection. The localisation algorithm is a vision-based SLAM solution called RatSLAM, based on mechanisms within the hippocampus. The anomaly detection algorithm is based on the mechanisms used by the immune system to identify threats to the body. The system is explored using data gathered within an unmodified office environment. It is shown that the algorithm successfully reacts to the presence of people and objects in areas where they are not usually present and is tolerised against the presence of people in environments that are usually dynamic.



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