Artificial smell detection for robotic navigation

Rozas, Roberto; Morales, José; Vega, David

doi:10.1109/icar.1991.240354

Cited by 73 publications

(45 citation statements)

References 17 publications

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“…Some groups have studied chemotaxis in small wheeled robots that followed a trail of chemicals laid on the ground [10,[38][39][40]. Morse [33] used phototaxis in a table-top robot to model chemotaxis in the microscopic nematode C. elegans.…”

Section: Introductionmentioning

confidence: 99%

Biomimetic robot lobster performs chemo-orientation in turbulence using a pair of spatially separated sensors: Progress and challenges

Grasso

Consi²,

Mountain

et al. 2000

Robotics and Autonomous Systems

165

102

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Section: Introductionmentioning

confidence: 99%

Biomimetic robot lobster performs chemo-orientation in turbulence using a pair of spatially separated sensors: Progress and challenges

Grasso

Consi²,

Mountain

et al. 2000

Robotics and Autonomous Systems

165

102

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“…While it was not until several decades later that work in robotic olfaction began [27], it has been steadily intensifying ever since. The possibilities are endless, including very promising applications in search and rescue operations [11], as well as environmental and industrial safety [5].…”

Section: Introductionmentioning

confidence: 99%

A Graph-Based Formation Algorithm for Odor Plume Tracing

Soares

Aguiar

Pascoal

et al. 2016

Springer Tracts in Advanced Robotics

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Odor plume tracing is a challenging robotics application, made difficult by the combination of the patchy characteristics of odor distribution and the slow response of the available sensors. This work proposes a graph-based formation control algorithm to coordinate a group of small robots equipped with odor sensors, with the goal of tracing an odor plume to its source. This approach makes it possible to organize the robots in arbitrary and evolving formation shapes, with the aim of improving tracking performance. The algorithm was evaluated in a high-fidelity submicroscopic simulator, using different formations and achieving quick convergence and negligible distance overhead in laminar wind flows.

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“…Chemical sensing entered the field of mobile robotics in the beginning of the 1990's by initial experiments, which applied gas source tracing strategies based on gradientfollowing [15,21]. Although such strategies can improve the tracing performance on average [13], they are prone to be mislead by the non-smooth and multimodal character of gas distribution in real-world environments.…”

Section: Introductionmentioning

confidence: 99%

Gas Source Tracing with a Mobile Robot Using an Adapted Moth Strategy

Lilienthal

Reimann

Zell

2003

Autonome Mobile Systeme 2003

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Abstract. As a sub-task of the general gas source localisation problem, gas source tracing is supposed to guide a gas-sensitive mobile system towards a source by using the cues determined from the gas distribution sensed along a driven path. This paper reports on an investigation of a biologically inspired gas source tracing strategy. Similar to the behaviour of the silkworm moth Bombyx mori, the implemented behaviour consists of a fixed motion pattern that realises a local search, and a mechanism that (re-)starts this motion pattern if an increased gas concentration is sensed. While the moth uses the local airflow direction to orient the motion pattern, this is not possible for a mobile robot due to the detection limits of currently available anemometers. Thus, an alternative method was implemented that uses an asymmetric motion pattern, which is biased towards the side where higher gas sensor readings were obtained. The adaptated strategy was implemented and tested on an experimental platform. This paper describes the strategy and evaluates its performance in terms of the ability to drive the robot towards a gas source and to keep it within close proximity of the source.

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Artificial smell detection for robotic navigation

Cited by 73 publications

References 17 publications

Biomimetic robot lobster performs chemo-orientation in turbulence using a pair of spatially separated sensors: Progress and challenges

Biomimetic robot lobster performs chemo-orientation in turbulence using a pair of spatially separated sensors: Progress and challenges

A Graph-Based Formation Algorithm for Odor Plume Tracing

Gas Source Tracing with a Mobile Robot Using an Adapted Moth Strategy

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