Gas source localization in indoor environments using multiple inexpensive robots and stigmergy

Abstract

Abstract-Environmental monitoring is a rather new field in robotics. One of the main appealing tasks is gas mapping, i.e., the characterization of the chemical properties (concentration, dispersion, etc.) of the air within an environment. Current approaches rely on a robot using standard localization and mapping techniques to fuse gas measures with spatial features. These approaches require sophisticated sensors and/or high computational resources. We propose a minimalistic approach, in which one or multiple low-cost robots exploit the ability to store information in the environment, or "stigmergy", to effectively compute an artificial potential leading toward the likely location of the gas source, as indicated by a highest gas concentration or fluctuation. The potential is computed and stored directly on an array of RFID tags buried under the floor. Our approach has been validated in extensive experiments performed on real robots in a domestic environment.

AgriRobot: implementation and evaluation of an automatic robot for seeding and fertiliser microdosing in precision agriculture

“…The robot farming system developed includes a rice planting robot, a seeding robot, a robot tractor, a combine robot harvester and various implements attached to the robot tractor. Other research efforts proposed one or multiple low-cost robots that exploit the ability to the store information in the environment using various sensors (Di Rocco et al, 2011;Patil et al, 2018aPatil et al, , 2018bPatil et al, , 2018cPedersen et al, 2006). Bongiovanni et al (2004) demonstrated site-specific information and variable rate application in maintaining profitability while reducing manual applications.…”

Statistical Technique in Gas Dispersion Modeling Based on Linear Interpolation

“…The first was a model-based approach which needs a complex numerical model [2]. This approach relied on generating simulation which was not suitable for practical situation.…”

Statistical Technique in Gas Dispersion Modeling Based on Linear Interpolation

“…Maurizio, et al, defines a gas mapping approach into two main approaches. The first was a model-based approach which needs a complex numerical model [2]. This approach relied on generating simulation which was not suitable for practical situation.…”