Acoustic Masking of a Stealthy Outdoor Robot Tracking a Dynamic Target
Tews, Ashley & Dunbabin, Matthew (2013) Acoustic Masking of a Stealthy Outdoor Robot Tracking a Dynamic Target. In Desai, Jaydev P., Dudek, Gregory, Khatib, Oussama, & Kumar, Vijay (Eds.) Experimental Robotics : The 13th International Symposium on Experimental Robotics. Springer International Publishing, pp. 775-786.
This work is motivated by the desire to covertly track mobile targets, either animal or human, in previously unmapped outdoor natural environments using off-road robotic platforms with a non-negligible acoustic signature. The use of robots for stealthy surveillance is not new. Many studies exist but only consider the navigation problem to maintain visual covertness. However, robotic systems also have a significant acoustic footprint from the onboard sensors, motors, computers and cooling systems, and also from the wheels interacting with the terrain during motion. All these can jepordise any visual covertness. In this work, we experimentally explore the concepts of opportunistically utilizing naturally occurring sounds within outdoor environments to mask the motion of a robot, and being visually covert whilst maintaining constant observation of the target. Our experiments in a constrained outdoor built environment demonstrate the effectiveness of the concept by showing a reduced acoustic signature as perceived by a mobile target allowing the robot to covertly navigate to opportunistic vantage points for observation.
Impact and interest:
Citation counts are sourced monthly from and citation databases.
These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.
Citations counts from theindexing service can be viewed at the linked Google Scholar™ search.
|Item Type:||Book Chapter|
|Additional Information:||Proceedings of the 13th International Symposium on Experimental Robotics|
|Keywords:||Acoustic, Covert, Stealth, Robot, Tracking|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2013 Springer International Publishing Switzerland|
|Deposited On:||20 Mar 2014 00:19|
|Last Modified:||21 Mar 2014 04:49|
Repository Staff Only: item control page