Towards robotic visual and acoustic stealth for outdoor dynamic target tracking

Dunbabin, Matthew & Tews, Ashley (2012) Towards robotic visual and acoustic stealth for outdoor dynamic target tracking. In Carnegie, Dale & Browne, Will (Eds.) Proceedings of the 2012 Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association, Victoria University of Wellington, New Zealand, pp. 1-9.

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Abstract

Covertly tracking mobile targets, either animal or human, in previously unmapped outdoor natural environments using off-road robotic platforms requires both visual and acoustic stealth. Whilst the use of robots for stealthy surveillance is not new, the majority only consider navigation for visual covertness. However, most fielded robotic systems have a non-negligible acoustic footprint arising from the onboard sensors, motors, computers and cooling systems, and also from the wheels interacting with the terrain during motion. This time-varying acoustic signature can jeopardise any visual covertness and needs to be addressed in any stealthy navigation strategy. In previous work, we addressed the initial concepts for acoustically masking a tracking robot’s movements as it travels between observation locations selected to minimise its detectability by a dynamic natural target and ensuring con- tinuous visual tracking of the target. This work extends the overall concept by examining the utility of real-time acoustic signature self-assessment and exploiting shadows as hiding locations for use in a combined visual and acoustic stealth framework.

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ID Code: 68808
Item Type: Conference Paper
Refereed: Yes
Keywords: Visual stealth, Acoustic stealth, Path planning, Covert, Field robotics
ISBN: 9780980740431
ISSN: 1448-2053
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2012 ARAA
Deposited On: 20 Mar 2014 00:33
Last Modified: 02 Apr 2014 06:44

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