TY  - CONF
ID  - gongora_ecmr_2017
T1  - Gas Source Localization Strategies for Teleoperated Mobile Robots. An Experimental Analysis
A1  - Gongora, Andres
A1  - Monroy, Javier
A1  - Gonzalez-Jimenez, Javier
TI  - 2017 European Conference on Mobile Robots (ECMR)
Y1  - 2017
CY  - Paris (France)
UR  - http://ieeexplore.ieee.org/document/8098720/
M2  - doi: 10.1109/ECMR.2017.8098720
KW  - Indexes
KW  - mobile robots
KW  - Position measurement
KW  - Robot sensing systems
KW  - Visualization
N2  - 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.
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