École Nationale Supérieure de
Techniques Avancées

Abstract

The final goal of this project is to develop a full monitoring systems for Urban IOT using fixed sensors and context-aware mobile sensors with a multi-scale system to collect and analyze data. The first stage of this internship consisted in handling ROS and implemented elementary functions on the robots which can be useful for the rest of the project. The second stage consisted in developing and implementing on the Turtlebots the global mobility strategy to monitor the environment. The final stage of the internship was about the exploration strategies. Different strategies have been developed and implemented. Then, the performance of these strategies have been compared by varying the settings, in order to optimize the environment monitoring.