An algorithm for formation-based chemical plume tracing using robotic marine vehicles

Soares, Jorge M.; Aguiar, A. Pedro; Pascoal, António; Martinoli, Alcherio

doi:10.1109/oceans.2016.7761119

Cited by 6 publications

(6 citation statements)

References 27 publications

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“…e degree of detection of particles depends on the corresponding distance between the vehicle and the source. e authors of [57] have used a probabilistic map of the source position developed through the sensor information for dynamic motion planning.…”

Section: Previous Studiesmentioning

confidence: 99%

A Comprehensive Review on Design of Autonomous Robotic Boat for Rescue Applications

Jain

Saini

Gupta

et al. 2021

Mathematical Problems in Engineering

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New technologies are advancing and emerging day by day to improve the safety of humans by making use of various autonomous technologies. The continuous utilization of autonomous vehicles/systems in search and rescue (SAR) operations is a challenging research area particularly for marine-based activities. A comprehensive systematic literature review (SLR) providing an overview of improvisations that have been done in the field of autonomous technologies for search and rescue operation over the last five years has been compiled in this paper. A methodology for using autonomous vehicles in water for SAR operations has been incorporated and demonstrated. The focus of this study is to look at the various techniques and address different challenges faced for human beings’ safety during rescue operation. The comparison of results achieved for various technologies and algorithms is highlighted in this paper. This literature survey proves to be a good source of information for fellow researchers to precisely analyze the study results.

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Section: Previous Studiesmentioning

confidence: 99%

A Comprehensive Review on Design of Autonomous Robotic Boat for Rescue Applications

Jain

Saini

Gupta

et al. 2021

Mathematical Problems in Engineering

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“…With an extension to a 3D scenario, another study presents simulation and experimental results for 3D distributed plume tracking with a group of land and air robots measuring odor concentration in a wind tunnel [12]. In [44], the authors simulated a group of MEDUSA class of marine vehicles [45] measuring conductivity in a fresh water stream. These works [12,44] use integration of three behaviors: upstream movement, plume centering, and Laplacian feedback formation control.…”

Section: Wind Detection (Anemotaxis)mentioning

confidence: 99%

“…In [44], the authors simulated a group of MEDUSA class of marine vehicles [45] measuring conductivity in a fresh water stream. These works [12,44] use integration of three behaviors: upstream movement, plume centering, and Laplacian feedback formation control.…”

Section: Wind Detection (Anemotaxis)mentioning

confidence: 99%

Environmental monitoring using autonomous vehicles: a survey of recent searching techniques

Bayat

Crasta

Crespi

et al. 2017

Current Opinion in Biotechnology

144

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Autonomous vehicles are becoming an essential tool in a wide range of environmental applications that include ambient data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. Among these applications, pollution source localization has drawn increasing interest due to its scientific and commercial interest and the emergence of a new breed of robotic vehicles capable of performing demanding tasks in harsh environments without human supervision. In this task, the aim is to find the location of a region that is the source of a given substance of interest (e.g. a chemical pollutant at sea or a gas leakage in air) using a group of cooperative autonomous vehicles. Motivated by fast paced advances in this challenging area, this paper surveys recent advances in searching techniques that are at the core of environmental monitoring strategies using autonomous vehicles.

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“…In contrast to relying only on concentration measurements, incorporating other physical parameters could improve source localization strategies, for example wind or airflow (or fluid flow). This leads to the class of anemotaxis strategies (see [11,12,13]). Gas dispersion is mostly dominated by advection mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Model Mismatch Effects for a Model-Based Gas Source Localization Strategy Incorporating Advection Knowledge

Wiedemann

Lilienthal

Shutin

2019

Sensors

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In disaster scenarios, where toxic material is leaking, gas source localization is a common but also dangerous task. To reduce threats for human operators, we propose an intelligent sampling strategy that enables a multi-robot system to autonomously localize unknown gas sources based on gas concentration measurements. This paper discusses a probabilistic, model-based approach for incorporating physical process knowledge into the sampling strategy. We model the spatial and temporal dynamics of the gas dispersion with a partial differential equation that accounts for diffusion and advection effects. We consider the exact number of sources as unknown, but assume that gas sources are sparsely distributed. To incorporate the sparsity assumption we make use of sparse Bayesian learning techniques. Probabilistic modeling can account for possible model mismatch effects that otherwise can undermine the performance of deterministic methods. In the paper we evaluate the proposed gas source localization strategy in simulations using synthetic data. Compared to real-world experiments, a simulated environment provides us with ground truth data and reproducibility necessary to get a deeper insight into the proposed strategy. The investigation shows that (i) the probabilistic model can compensate imperfect modeling; (ii) the sparsity assumption significantly accelerates the source localization; and (iii) a-priori advection knowledge is of advantage for source localization, however, it is only required to have a certain level of accuracy. These findings will help in the future to parameterize the proposed algorithm in real world applications.

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An algorithm for formation-based chemical plume tracing using robotic marine vehicles

Cited by 6 publications

References 27 publications

A Comprehensive Review on Design of Autonomous Robotic Boat for Rescue Applications

A Comprehensive Review on Design of Autonomous Robotic Boat for Rescue Applications

Environmental monitoring using autonomous vehicles: a survey of recent searching techniques

Analysis of Model Mismatch Effects for a Model-Based Gas Source Localization Strategy Incorporating Advection Knowledge

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