Experimental studies on chemical concentration map building by a multi-robot system using bio-inspired algorithms

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dc.contributor.authorTurduev, Mirbek
dc.contributor.authorCabrita, Goncalo
dc.contributor.authorKırtay, Murat
dc.contributor.authorGazi, Veysel
dc.contributor.authorMarques, Lino
dc.date.accessioned2021-05-15T12:40:52Z
dc.date.available2021-05-15T12:40:52Z
dc.date.issued2014
dc.departmentMühendislik ve Doğa Bilimleri Fakültesi, Elektrik - Elektronik Mühendisliği Bölümüen_US
dc.descriptionGazi, Veysel/0000-0002-4383-9215; Marques, Lino/0000-0002-9396-986X; Turduev, Mirbek/0000-0002-3334-0808; KIRTAY, Murat/0000-0001-5524-8220
dc.description.abstractIn this article we describe implementations of various bio-inspired algorithms for obtaining the chemical gas concentration map of an environment filled with a contaminant. The experiments are performed using Khepera III and miniQ miniature mobile robots equipped with chemical gas sensors in an environment with ethanol gas. We implement and investigate the performance of decentralized and asynchronous particle swarm optimization (DAPSO), bacterial foraging optimization (BFO), and ant colony optimization (ACO) algorithms. Moreover, we implement sweeping (sequential search algorithm) as a base case for comparison with the implemented algorithms. During the experiments at each step the robots send their sensor readings and position data to a remote computer where the data is combined, filtered, and interpolated to form the chemical concentration map of the environment. The robots also exchange this information among each other and cooperate in the DAPSO and ACO algorithms. The performance of the implemented algorithms is compared in terms of the quality of the maps obtained and success of locating the target gas sources.en_US
dc.description.sponsorshipScientific and Technological Research Council of Turkey (TUBITAK)Turkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK) [106E122]; European CommissionEuropean CommissionEuropean Commission Joint Research Centre [045269]en_US
dc.description.sponsorshipThis work was supported by the Scientific and Technological Research Council of Turkey (TUBITAK) under Grant No. 106E122 and by the European Commission under the GUARDIANS Project (FP6 contract No. 045269).en_US
dc.identifier.doi10.1007/s10458-012-9213-x
dc.identifier.endpage100en_US
dc.identifier.issn1387-2532
dc.identifier.issn1573-7454
dc.identifier.issue1en_US
dc.identifier.scopus2-s2.0-84891627042
dc.identifier.scopusqualityQ2
dc.identifier.startpage72en_US
dc.identifier.urihttps://doi.org/10.1007/s10458-012-9213-x
dc.identifier.urihttps://hdl.handle.net/20.500.12939/700
dc.identifier.volume28en_US
dc.identifier.wosWOS:000329227800003
dc.identifier.wosqualityQ3
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorGazi, Veysel
dc.language.isoen
dc.publisherSpringeren_US
dc.relation.ispartofAutonomous Agents and Multi-Agent Systems
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectRobotic Olfactionen_US
dc.subjectMulti-Roboten_US
dc.subjectBio-Inspireden_US
dc.titleExperimental studies on chemical concentration map building by a multi-robot system using bio-inspired algorithms
dc.typeArticle

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WoS İndeksli Yayınlar Koleksiyonu
Elektrik - Elektronik Mühendisliği Bölümü Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu