Practical domotics using sensor fusion: responsibility handover of a mobile robot in a building

Details

Supervisors

Van Roy, Peter

Faculty

Ecole polytechnique de Louvain

Degree label

Master [120] en sciences informatiques, à finalité spécialisée
Master [120] : ingénieur civil en génie de l'énergie , à finalité spécialisée

Abstract

enDomotic systems are becoming increasingly prevalent in our daily lives, driven by both the evolution of connected devices and advances in new technologies. Businesses and consumers alike are increasingly encouraged to take advantage of these innovations, both to improve their performance and for the comfort they offer. These systems most often use multi-agent sensor networks that must operate reliably even in changing or constrained environments. In such contexts, sensor data fusion and dynamic management of information sources become major challenges for maintaining the accuracy of estimates and ensuring continuity of operations. This master’s thesis studies the integration of a dynamic sensor responsibility transfer mechanism between data sources used for sensor-fusion. Using GRiSP2 prototyping boards and the Hera framework, we developed a multi-agent architecture enabling a self-balancing robot to navigate a scaled-down model of a multi-room building. The system combines ultrasonic sonars placed in each room with an onboard inertial sensor to perform real-time sensor fusion for estimating the position and orientation of our robot agent.