{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:38:07Z","timestamp":1760243887175,"version":"build-2065373602"},"reference-count":47,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2010,3,19]],"date-time":"2010-03-19T00:00:00Z","timestamp":1268956800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and\/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted.<\/jats:p>","DOI":"10.3390\/s100302274","type":"journal-article","created":{"date-parts":[[2010,3,21]],"date-time":"2010-03-21T13:10:46Z","timestamp":1269177046000},"page":"2274-2314","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":31,"title":["Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas"],"prefix":"10.3390","volume":"10","author":[{"given":"Alberto","family":"Sanfeliu","sequence":"first","affiliation":[{"name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Barcelona, Spain"}]},{"given":"Juan","family":"Andrade-Cetto","sequence":"additional","affiliation":[{"name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Barcelona, Spain"}]},{"given":"Marco","family":"Barbosa","sequence":"additional","affiliation":[{"name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Barcelona, Spain"}]},{"given":"Richard","family":"Bowden","sequence":"additional","affiliation":[{"name":"Centre for Vision Speech and Signal Processing, University of Surrey, Guildford, UK"}]},{"given":"Jes\u00fas","family":"Capit\u00e1n","sequence":"additional","affiliation":[{"name":"Robotics, Vision and Control Group, University of Seville, Seville, Spain"}]},{"given":"Andreu","family":"Corominas","sequence":"additional","affiliation":[{"name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Barcelona, Spain"}]},{"given":"Andrew","family":"Gilbert","sequence":"additional","affiliation":[{"name":"Centre for Vision Speech and Signal Processing, University of Surrey, Guildford, UK"}]},{"given":"John","family":"Illingworth","sequence":"additional","affiliation":[{"name":"Centre for Vision Speech and Signal Processing, University of Surrey, Guildford, UK"}]},{"given":"Luis","family":"Merino","sequence":"additional","affiliation":[{"name":"Pablo de Olavide University, Seville, Spain"}]},{"given":"Josep","family":"Mirats","sequence":"additional","affiliation":[{"name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Barcelona, Spain"}]},{"given":"Pl\u00ednio","family":"Moreno","sequence":"additional","affiliation":[{"name":"Instituto Superior T\u00e9cnico & Institute for Systems and Robotics, Lisbon, Portugal"}]},{"given":"An\u00edbal","family":"Ollero","sequence":"additional","affiliation":[{"name":"Robotics, Vision and Control Group, University of Seville, Seville, Spain"},{"name":"Center for Advanced Aerospace Technology, Seville, Spain"}]},{"given":"Jo\u00e3o","family":"Sequeira","sequence":"additional","affiliation":[{"name":"Instituto Superior T\u00e9cnico & Institute for Systems and Robotics, Lisbon, Portugal"}]},{"given":"Matthijs T. J.","family":"Spaan","sequence":"additional","affiliation":[{"name":"Instituto Superior T\u00e9cnico & Institute for Systems and Robotics, Lisbon, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2010,3,19]]},"reference":[{"key":"ref_1","unstructured":"Sanfeliu, A., and Andrade-Cetto, J. (2006, January October). Ubiquitous networking robotics in urban settings. Beijing, China."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Capit\u00e1n, J., Mantec\u00f3n, D., Soriano, P., and Ollero, A. (2007, January September). Autonomous perception techniques for urban and industrial fire scenarios. Roma, Italy.","DOI":"10.1109\/SSRR.2007.4381262"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"849","DOI":"10.1016\/0967-0661(94)90349-2","article-title":"Data fusion in decentralized sensor networks","volume":"2","author":"Grime","year":"1994","journal-title":"Control Eng. 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