Departmental Papers (CIS)

Date of this Version

April 2004

Document Type

Conference Paper


Copyright 2004 IEEE. Reprinted from Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA 2004), Volume 1, pages 691-696.
Publisher URL: er=29020&page=7

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to By choosing to view this document, you agree to all provisions of the copyright laws protecting it.


In this paper we describe our implementation of a distributed sensor database that was designed to support the activities of teams of mobile robots as they explore an environment. Importantly, this approach effectively separates the process of acquiring sensor data from that of exploiting it. This allows us to develop applications where robots and human users can automatically discover and utilize sensor measurements acquired by other robots in the team. We also explain our approach to implementing distributed queries, an important capability that allows us to perform queries in a way that makes best use of the limited available communication bandwidth. Finally, we briefly describe how we have used this system to support situational awareness tasks.



Date Posted: 15 November 2004

This document has been peer reviewed.