A Multi-Robot Setup for Security Applications using ehavior-Oriented Situational Graphs

conference paper


Kemmeren, A.C.

Meijer, W.J.

Mil, J. van
In this paper we present a multi-robot setup for safety and security applications, extending an earlier single-robot “forward observer” demonstrator based on Behavior-Oriented Situational Graphs (BOS-Graphs). Building on the BOS-Graph framework, we address four key challenges in scaling to multi-robot operations: operator situational awareness, shared environment representation, networking across distributed systems, and task coordination. We show a minimal viable demonstrator integrating these elements. Finally, we discuss limitations observed in the demonstrator and outline directions for future work towards reliable, scalable multi-robot solutions for security
domains.
Topics









Mlti-robotStuational graphEvironment representationRbotics middlewareCordinationCollaborationSituational awarenessNetworkingForward observerPerimeter surveillance
TNO Identifier
1020276
Repository link
https://resolver.tno.nl/uuid:59e74f5f-4727-4464-891c-0689f3ce2022
Publisher
SPIE
Source title
Autonomous Systems for Security and Defence II Proceedings of SPIE 15–16 September 2025 Madrid, Spain
Editor(s)
Kampmeijer, L.
Masini, B.
Milosevic, Z.
Files
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