Virtual cancelation plume for multiple odor source localization

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dc.contributor.authorCabrita, Goncalo
dc.contributor.authorMarques, Lino
dc.contributor.authorGazi, Veysel
dc.date.accessioned2021-05-15T12:41:02Z
dc.date.available2021-05-15T12:41:02Z
dc.date.issued2013
dc.departmentMühendislik ve Doğa Bilimleri Fakültesi, Elektrik - Elektronik Mühendisliği Bölümüen_US
dc.descriptionIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) -- NOV 03-08, 2013 -- Tokyo, JAPAN
dc.descriptionGazi, Veysel/0000-0002-4383-9215; Marques, Lino/0000-0002-9396-986X
dc.description.abstractThis article presents a novel algorithm for multiple odor source localization by a multi-robot system based on a virtual cancelation plume approach. The proposed method is based on rendering a previously declared odor source invisible to the robots so that the declared source and the odor plume it generates do not interfere with the effects of other existing plumes, allowing the localization of the remaining sources. Exploration and plume tracking by the robots is achieved using a decentralized asynchronous particle swarm optimization algorithm. The divergence operator is used to declare the odor sources. A set of simulations and real world experiments are performed on two different scenarios on a controlled environment using a swarm of 5 robots to validate the proposed methodology. Results show that the virtual plume cancelation algorithm can be successfully used to find multiple odor sources, even when two plumes overlap. It can also extend the operation of many odor source localization algorithms developed for single source localization.en_US
dc.description.sponsorshipIEEE, IEEE Robot & Automat Soc, IEEE Ind Elect Soc, Robot Soc Japan, New Technol Fdn, Soc Instrument & Control Engineers, Kawada Robot, Reflexxes GmbH, Telecommunicat Advancement Fdn, Tateisi Sci & Technol Fdnen_US
dc.description.sponsorshipEuropean Community's Seventh Framework Program [FP7/2007-2013, 284747]en_US
dc.description.sponsorshipThis work was partially carried-out in the framework of TIRAMISU project. This project is funded by the European Communitys Seventh Framework Program (FP7/2007-2013) under grant 284747en_US
dc.identifier.endpage5558en_US
dc.identifier.isbn978-1-4673-6358-7
dc.identifier.issn2153-0858
dc.identifier.scopus2-s2.0-84893735632
dc.identifier.scopusqualityQ2
dc.identifier.startpage5552en_US
dc.identifier.urihttps://hdl.handle.net/20.500.12939/733
dc.identifier.wosWOS:000331367405092
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorGazi, Veysel
dc.language.isoen
dc.publisherIeeeen_US
dc.relation.ispartof2013 Ieee/Rsj International Conference on Intelligent Robots and Systems (Iros)
dc.relation.ispartofseriesIEEE International Conference on Intelligent Robots and Systems
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectDAPSOen_US
dc.subjectMAEen_US
dc.subjectGaussianen_US
dc.subjectComputer Fluid Dynamicsen_US
dc.titleVirtual cancelation plume for multiple odor source localization
dc.typeConference Object

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WoS İndeksli Yayınlar Koleksiyonu
Elektrik - Elektronik Mühendisliği Bölümü Koleksiyonu
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