Application of the Distributed Field Robot Architecture to a Simulated Demining Task

Long, M.T.; Gage, A.; Murphy, Robin R.; Valavanis, Kimon P.

doi:10.1109/robot.2005.1570602

Cited by 39 publications

(29 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Notably the localization of odor sources would allow for very interesting robotic applications, such as search and rescue operations, safety and control operations on airports or industrial plants, and humanitarian demining [20] [5] [16] [8]. Many of these applications are time-critical, i. e. odor sources should be found as fast as possible.…”

Section: Introductionmentioning

confidence: 99%

Tracking Odor Plumes in a Laminar Wind Field with Bio-inspired Algorithms

Lochmatter

Martinoli

2009

Springer Tracts in Advanced Robotics

View full text Add to dashboard Cite

Summary. We introduce a novel bio-inspired odor source localization algorithm (surge-cast) for environments with a main wind flow and compare it to two wellknown algorithms. With all three algorithms, systematic experiments with real robots are carried out in a wind tunnel under laminar flow conditions. The algorithms are compared in terms of distance overhead when tracking the plume up to the source, but a variety of other experimental results and some theoretical considerations are provided as well. We conclude that the surge-cast algorithm yields significantly better performance than the casting algorithm, and slightly better performance than the surge-spiral algorithm.

show abstract

Section: Introductionmentioning

confidence: 99%

Tracking Odor Plumes in a Laminar Wind Field with Bio-inspired Algorithms

Lochmatter

Martinoli

2009

Springer Tracts in Advanced Robotics

View full text Add to dashboard Cite

show abstract

“…Notably the localization of odor sources would allow for very interesting robotic applications, such as search and rescue operations, safety and control operations on airports or industrial plants, and humanitarian demining [21] [5] [17] [8]. Many of these applications are time-critical, i. e. odor sources should be found as fast as possible.…”

Section: Introductionmentioning

confidence: 99%

Understanding the Potential Impact of Multiple Robots in Odor Source Localization

Lochmatter

Martinoli

2009

Distributed Autonomous Robotic Systems 8

View full text Add to dashboard Cite

We investigate the performance of three bio-inspired odor source localization algorithms used in non-cooperating multi-robot systems. Our performance metric is the distance overhead of the first robot to reach the source, which is a good measure for the speed of an odor source localization algorithm. Using the performance distribution of single-robot experiments, we calculate an ideal performance for multi-robot teams. We carry out simulations in a realistic robotic simulator and provide quantitative evidence of the differences between ideal and realistic performances of a given algorithm. A closer analysis of the results show that these differences are mainly due to physical interference among robots.

show abstract

“…Notably the localization of odor sources would allow for very interesting robotic applications, such as search and rescue operations, safety and control operations in airports or industrial plants, and humanitarian demining [18] [5] [15] [8]. Many of these applications are time-critical, i. e. odor sources should be found as fast as possible.…”

Section: Introductionmentioning

confidence: 99%