![define sentry define sentry](https://i.pinimg.com/originals/f0/d7/81/f0d781b500755f512b8e61d8a65dc9ad.png)
This robot system may also be used to ''walk-test'' intrusion detection sensors as part of a routine test and maintenance program for an interior intrusion detection system. The robot can act as a mobile remote sensing platform for alarm assessment or roving patrol, as a point sensor (sentry) in routine security applications, or as an exploratory device in situations potentially hazardous to humans.
#DEFINE SENTRY MANUAL#
The robot system can be operated either by remote manual more » control, or it can operate autonomously where direct human control can be limited to the global command level.
![define sentry define sentry](https://i.kinja-img.com/gawker-media/image/upload/s--CyEBEa4y--/c_fill,fl_progressive,g_center,h_900,q_80,w_1600/xkiybmrfpn2kofsd95d7.jpg)
Other desirable features of the robot system include low weight, compact size, and low power consumption.
#DEFINE SENTRY SOFTWARE#
The features of this robot system include specialized software and sensors for navigation without the need for external locator beacons or signposts, sensors for remote imaging and intruder detection, and the ability to communicate information either directly to the electronic portion of the security system or to a manned central control center. This paper describes a mobile robot system designed to function as part of an overall security system at a high security facility. The hardware, software, and operation of this robot system are briefly described herein.
![define sentry define sentry](https://www.coursehero.com/thumb/d5/af/d5af7ff21104400a898199fd6c091847bfe06d80_180.jpg)
The same potential field path planner resides on the vehicle, except additional repulsive forces from on-board proximity sensors guide the vehicle away from unplanned obstacles. This path is previewed to the operator before the regions are downloaded to the vehicles. A potential field path planner automatically generates a path from the vehicles' current position to the goal regions while avoiding the repulsive regions and the other vehicles.
![define sentry define sentry](https://img.tfd.com/wn/AA/60106-sentry-duty.png)
At the base-station, the operator can draw on an aerial map the goal regions to be surrounded and the repulsive regions to be avoided. This is currently being extended to include mission planning capabilities. We have also demonstrated the ability to drive multiple vehicles in formation via tele-operation or by waypoint GPS navigation. As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm. A radio frequency receiver on each of the RATLER vehicles alerts the sentry more » vehicles of alarms from the hidden MIDS. = ) vehicles, a laptop-based base-station, and several Miniature Intrusion Detection Sensors (MIDS).