oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • 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
Approaches to gas source tracing and declaration by pure chemo-tropotaxis
WSI, University of Tübingen, Tübingen, Germany. (Learning Systems Lab)ORCID iD: 0000-0003-0217-9326
Örebro University, Department of Technology. (Learning Systems Lab)
2003 (English)In: Autonome Mobile Systeme 2003 / [ed] Rüdiger Dillmann, Heinz Wörn, Tilo Gockel, Springer Berlin/Heidelberg, 2003, Vol. 18, p. 161-171Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of localising a static gas source in an uncontrolled indoor environment by a mobile robot. In contrast to previous works, especially the condition of an environment that is not artificially ventilated to produce a strong unidirectional airflow is considered. Here, the propagation of the analyte molecules is dominated by turbulence and convection flow rather than diffusion, thus creating a patchy distribution of spatially distributed eddies. Positive and negative tropotaxis, based on the spatial concentration gradient measured by a pair of electrochemical gas sensor arrays, were investigated. Both strategies were implemented utilising a direct sensor-motor coupling (a Braitenberg vehicle) and were shown to be useful to accomplish the gas source localisation task. As a possible solution to the problem of gas source declaration (the task of determining with certainty that the gas source has been found), an indirect localisation strategy based on exploration and concentration peak avoidance is suggested. Here, a gas source is located by exploiting the fact that local concentration maxima occur more frequently near the gas source compared to distant regions

Place, publisher, year, edition, pages
Springer Berlin/Heidelberg, 2003. Vol. 18, p. 161-171
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4002DOI: 10.1007/978-3-642-18986-9_17ISBN: 978-3-540-20142-7 (print)ISBN: 978-3-642-18986-9 (print)OAI: oai:DiVA.org:oru-4002DiVA, id: diva2:138301
Conference
Autonome Mobile Systeme, AMS, Karlsruhe, Germany, 4-5 December, 2003
Available from: 2007-09-04 Created: 2007-09-04 Last updated: 2018-04-24Bibliographically approved

Open Access in DiVA

Approaches to Gas Source Tracing and Declaration by Pure Chemo-Tropotaxis(759 kB)48 downloads
File information
File name FULLTEXT01.pdfFile size 759 kBChecksum SHA-512
51206cd34a721b353aeef88f0d8893d886d2b48d77fbedb2f914e8427e81097f636cd92987283973b759323f1ab3ef49e7b4312473b667cc709a7d5e39c37329
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Authority records BETA

Lilienthal, Achim J.Duckett, Tom

Search in DiVA

By author/editor
Lilienthal, Achim J.Duckett, Tom
By organisation
Department of Technology
Computer Sciences

Search outside of DiVA

GoogleGoogle Scholar
Total: 48 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 374 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • 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