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Gas source localization in indoor environments using multiple inexpensive robots and stigmergy
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology.ORCID iD: 0000-0001-8229-1363
2011 (English)In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2011, p. 5007-5014Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
IEEE, 2011. p. 5007-5014
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Robotics
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-23781DOI: 10.1109/IROS.2011.6048334ISI: 000297477505056Scopus ID: 2-s2.0-84455206211ISBN: 978-1-61284-455-8 (print)OAI: oai:DiVA.org:oru-23781DiVA, id: diva2:538593
Conference
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems September 25-30, 2011. San Francisco, CA, USA
Available from: 2012-06-30 Created: 2012-06-30 Last updated: 2017-10-18Bibliographically approved

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Di Rocco, MaurizioReggente, MatteoSaffiotti, Alessandro

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf