Name
Abstract | ||
|---|---|---|
Finding the source of an accidental or deliberate release of a toxic substance into the atmosphere is of great importance for national security. The paper presents a search algorithm for turbulent environments which falls into the class of cognitive (infotaxi) algorithms. Bayesian estimation of the source parameter vector is carried out using the Rao-Blackwell dimension-reduction method, while the robots are controlled autonomously to move in a scalable formation. Estimation and control are carried out in a centralised replicated fusion architecture assuming all-to-all communication. The paper presents a comprehensive numerical analysis of the proposed algorithm, including the search-time and displacement statistics. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.3390/s17040918 | SENSORS |
Keywords | Field | DocType |
cognitive search,biochemical source localisation,mobile robots | Search algorithm,Turbulence,Electronic engineering,Artificial intelligence,Engineering,Numerical analysis,Robot,Hazardous waste,Bayes estimator,Mobile robot,Distributed computing,Scalability | Journal |
Volume | Issue | Citations |
17 | 4.0 | 1 |
PageRank | References | Authors |
0.36 | 10 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Branko Ristic | 1 | 711 | 62.37 |
| Daniel Angley | 2 | 1 | 1.04 |
| B. Moran | 3 | 111 | 21.09 |
| Jennifer L. Palmer | 4 | 2 | 0.75 |