The application of autonomous mobile robots in robotic security platforms is becoming a promising field of innovation due to their adaptive capability of responding to potential disturbances perceived through a wide range of sensors. Researchers have proposed systems that either focus on utilizing a single mobile robot or a system of cooperative multiple robots. However, very few of the proposed works, particularly in the field of multi-robot systems, are completely dependent on LiDAR sensors for achieving various tasks. This is essential when other sensors on a robot fail to provide peak performance in particular conditions, such as a camera operating in the absence of light. This paper proposes a multi-robot system that is developed using ROS (Robot Operating System) for intruder detection in a single-range-sensor-per-robot scenario with centralized processing of detections from all robots by our central bot MIDNet (Multiple Intruder Detection Network). This work is aimed at providing an autonomous multi-robot security solution for a warehouse in the absence of human personnel.

中文翻译：

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使用配备 2D-LiDAR 传感器的基于 ROS 的多机器人系统进行自主入侵者检测

自主移动机器人在机器人安全平台中的应用正成为一个有前途的创新领域，因为它们具有响应通过各种传感器感知的潜在干扰的自适应能力。研究人员提出了专注于利用单个移动机器人或协作多个机器人系统的系统。然而，很少有人提出的工作，特别是在多机器人系统领域，完全依赖于激光雷达传感器来完成各种任务。当机器人上的其他传感器无法在特定条件下提供最佳性能时，例如在没有光线的情况下运行的相机，这一点至关重要。本文提出了一种使用 ROS（机器人操作系统）开发的多机器人系统，用于在单范围传感器每个机器人场景中进行入侵者检测，并通过我们的中央机器人 MIDNet（多入侵者检测）集中处理来自所有机器人的检测。网络）。这项工作旨在为无人值守的仓库提供自主的多机器人安全解决方案。