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Mobile robots for localizing gas emission sources on landfill sites: is bio-inspiration the way to go?
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0001-5061-5474
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-0217-9326
BAM Federal Institute for Materials Research and Testing, Berlin, Germany.
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-0195-2102
2012 (English)In: Frontiers in Neuroengineering, ISSN 1662-6443, Vol. 4, no 20, 1-12 p.Article in journal (Refereed) Published
Abstract [en]

Roboticists often take inspiration from animals for designing sensors, actuators, or algorithms that control the behavior of robots. Bio-inspiration is motivated with the uncanny ability of animals to solve complex tasks like recognizing and manipulating objects, walking on uneven terrains, or navigating to the source of an odor plume. In particular the task of tracking an odor plume up to its source has nearly exclusively been addressed using biologically inspired algorithms and robots have been developed, for example, to mimic the behavior of moths, dung beetles, or lobsters. In this paper we argue that biomimetic approaches to gas source localization are of limited use, primarily because animals differ fundamentally in their sensing and actuation capabilities from state-of-the-art gas-sensitive mobile robots. To support our claim, we compare actuation and chemical sensing available to mobile robots to the corresponding capabilities of moths. We further characterize airflow and chemosensor measurements obtained with three different robot platforms (two wheeled robots and one flying micro-drone) in four prototypical environments and show that the assumption of a constant and unidirectional airflow, which is the basis of many gas source localization approaches, is usually far from being valid. This analysis should help to identify how underlying principles, which govern the gas source tracking behavior of animals, can be usefully translated into gas source localization approaches that fully take into account the capabilities of mobile robots. We also describe the requirements for a reference application, monitoring of gas emissions at landfill sites with mobile robots, and discuss an engineered gas source localization approach based on statistics as an alternative to biologically inspired algorithms.

Place, publisher, year, edition, pages
Frontiers Media S.A. , 2012. Vol. 4, no 20, 1-12 p.
Keyword [en]
Mobile Robotics, Mobile Robot Olfaction, Landfill Surveillance, Biologically Inspired Robots
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-22704DOI: 10.3389/fneng.2011.00020PubMedID: 22319493Scopus ID: 2-s2.0-84856937768OAI: oai:DiVA.org:oru-22704DiVA: diva2:524684
Available from: 2012-05-03 Created: 2012-05-03 Last updated: 2017-10-02Bibliographically approved

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Hernandez Bennetts, VictorLilienthal, Achim J.Trincavelli, Marco
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