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Learning to locate an odour source with a mobile robot
Örebro University, Department of Technology. (Learning Systems Lab)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2001 (English)In: IEEE international conference on robotics and automation: ICRA 2001, 2001, p. 4017-4022Conference paper, Published paper (Refereed)
Abstract [en]

We address the problem of enabling a mobile robot to locate a stationary odour source using an electronic nose constructed from gas sensors. On the hardware side, we use a stereo nose architecture consisting of two parallel chambers, each containing an identical set of sensors. On the software side, we use a recurrent artificial neural network to learn the direction to a stationary source from a time series of sensor readings. This contrasts with previous approaches, that rely on the existence of a model of the sensor's dynamics. The complete system is able to orient and turn towards the source. An experimental validation was carried out to evaluate the performance of the system.

Place, publisher, year, edition, pages
2001. p. 4017-4022
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3935DOI: 10.1109/ROBOT.2001.933245ISBN: 0-7803-6576-3 (print)OAI: oai:DiVA.org:oru-3935DiVA, id: diva2:138234
Conference
IEEE international conference on robotics and automation, ICRA 2001, Seoul, Korea, 2001
Available from: 2007-08-15 Created: 2007-08-15 Last updated: 2018-01-13Bibliographically approved

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Publisher's full texthttp://www.aass.oru.se/Research/Robots/publications.html

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Duckett, TomSaffiotti, Alessandro

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Citation style
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  • nn-NO
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  • Other locale
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Output format
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