Dear guest, welcome to this publication database. As an anonymous user, you will probably not have edit rights. Also, the collapse status of the topic tree will not be persistent. If you like to have these and other options enabled, you might ask Admin for a login account.
| This site is powered by Aigaion - A PHP/Web based management system for shared and annotated bibliographies. For more information visit www.aigaion.nl. |
|
Gas Source Localization Strategies for Teleoperated Mobile Robots. An Experimental Analysis
| Type of publication: | Inproceedings |
| Citation: | gongora_ecmr_2017 |
| Booktitle: | 2017 European Conference on Mobile Robots (ECMR) |
| Year: | 2017 |
| Month: | sep |
| Location: | Paris (France) |
| URL: | http://ieeexplore.ieee.org/doc... |
| 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. |
| Userfields: | img_url=http%3A%2F%2Fmapir.uma.es%2Fagongora%2Fimages%2Fpapers%2F2017-ecmr%2Fw4bpath2.png,rank_indexname=,rank_pos_in_category=,rank_num_in_category=,rank_cat_name=,impact_factor= |
| Keywords: | Indexes, mobile robots, Position measurement, Robot sensing systems, Visualization |
| Authors | |
| Added by: | [] |
| Total mark: | 0 |
|
Attachments
|
|
|
|
|
Notes
|
|
|
|
|
|
Topics
|
|
|
|
|
