Paper Info
Title
SPIRAL: A novel biologically-inspired algorithm for gas/odor source localization in an indoor environment with no strong airflow
Abstract
This work describes the design and experimental results of an algorithm, designed to localize a gas source in an indoor environment with no strong airflow by using an autonomous agent. This condition exacerbates the patchiness and intermittency of odor distribution, typical of turbulent flows in the presence of strong mean flows. Furthermore, no information about the wind can be used to detect the position of the source. In the approach proposed here, the robot moves along spirals. A spiral can be reset and a new one started, based on the information acquired about gas distribution. This enables the robot to get close to the ejecting source, without relying on airflow measurements. Results from experiments are also described and discussed, to assess the efficiency of the proposed method.
Year
DOI
Venue
2009
10.1016/j.robot.2008.07.004
Robotics and Autonomous Systems
Keywords
Field
DocType
Indoor monitoring,Gas source localization,Bio-inspired algorithm
Spiral,Autonomous agent,Computer science,Odor source localization,Turbulence,Intermittency,Airflow,Artificial intelligence,Computer vision,Simulation,Odor,Algorithm,Robot
Journal
Volume
Issue
ISSN
57
4
Robotics and Autonomous Systems
Citations 
PageRank 
References 
32
1.58
12
Authors
6
Name
Order
Citations
PageRank
Gabriele Ferri112418.75
Emanuele Caselli2352.34
Virgilio Mattoli311513.41
Alessio Mondini4657.80
Barbara Mazzolai524040.03
Paolo Dario62017339.00