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@INPROCEEDINGS{gongora_ecmr_2017,
     author = {Gongora, Andres and Monroy, Javier and Gonzalez-Jimenez, Javier},
   keywords = {Indexes, mobile robots, Position measurement, Robot sensing systems, Visualization},
      month = {sep},
      title = {Gas Source Localization Strategies for Teleoperated Mobile Robots. An Experimental Analysis},
  booktitle = {2017 European Conference on Mobile Robots (ECMR)},
       year = {2017},
   location = {Paris (France)},
        url = {http://ieeexplore.ieee.org/document/8098720/},
        doi = {10.1109/ECMR.2017.8098720},
   abstract = {Gas source localization (GSL) is one of the most important and direct applications of a gas sensitive mobile robot, and consists in searching for one or multiple volatile emission sources with a mobile robot that has improved sensing capabilities (i.e. olfaction, wind flow, etc.). This work adresses GSL by employing a teleoperated mobile robot, and focuses on which search strategy is the most suitable for this teleoperated approach. Four different search strategies, namely chemotaxis, anemotaxis, gas-mapping, and visual-aided search, are analyzed and evaluated according to a set of proposed indicators (e.g. accuracy, efficiency, success rate, etc.) to determine the most suitable one for a human-teleoperated mobile robot. Experimental validation is carried out employing a large dataset composed of over 150 trials where volunteer operators had to locate a gas-leak in a virtual environment under various and realistic environmental conditions (i.e. different wind flow patterns and gas source locations). We report different findings, from which we highlight that, against intuition, visual-aided search is not always the best strategy, but depends on the environmental conditions and the operator's ability to understand how gas distributes.}
}