Odor Source Localization Using Multiple Robots in Complicated City-Like Environments

2011 ◽  
Vol 291-294 ◽  
pp. 3337-3344 ◽  
Author(s):  
Zhen Zhang Liu ◽  
Yi Jun Wang ◽  
Tien Fu Lu
Keyword(s):  
Mobile Robots ◽  
Source Localization ◽  
Human Life ◽  
Real Life ◽  
Source Location ◽  
Emission Source ◽  
Odor Source ◽  
Multiple Robots ◽  
Plume Tracing

The detection of a dangerous emission source location has the potential to be enhanced by using plume-tracing mobile robots, without endangering human life during the detection and source localization process. So far, many researchers focus on odor source localization in simple & laboratory based environments. The present study focuses on more real life odor source localization scenarios. In this study, multiple robots were used and coordinated by a supervisory program to locate an odor source in complicated city-like environments. A series of simulations has been conducted and the results demonstrated the potential of the supervisory program to effectively control a number of robots to locate a dangerous odor source in real life scenarios.

Odor Source Localization Research of Mobile Robots in Indoor Environments

2013 ◽  
Vol 441 ◽  
pp. 796-800
Author(s):  
Chun Shu Li ◽  
Zhi Hua Yang ◽  
Gen Qun Cui ◽  
Bo Jin
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Source Localization ◽  
Control Strategies ◽  
Grid Method ◽  
Indoor Environments ◽  
Odor Source ◽  
Localization Algorithm ◽  
Plume Tracing ◽  
Short Time

Aiming at the odor source localization in an obstacle-filled wind-varying indoor environment, a new method based odor source localization algorithm for a single mobile robot is proposed. With the information of the wind and the concentration gradient, Wasps can find odor source in a short time. However, it is very difficult for mobile robots to mimic the behaviors of wasps exactly. So, besides the bionics, BP neural network is adopted for the mobile robot to find the odor source. The control strategies for the plume-tracing mobile robot are proposed which include the intelligent plume-tracing algorithm and the collision avoidance algorithm based on improved potential grid method. The algorithms were integrated to control the robot trace plumes in obstructed indoor environments. Experimental results have demonstrated the capability of this kind of plume-tracing mobile robot.

Simulated Annealing Algorithm Based Single Robot Odor Source Localization Strategy

2014 ◽  
Vol 494-495 ◽  
pp. 1286-1289
Author(s):  
Shi Gang Cui ◽  
Guang Ming Zeng ◽  
Fan Liang ◽  
Jiang Lei Dong
Keyword(s):  
Simulated Annealing ◽  
Source Localization ◽  
Simulated Annealing Algorithm ◽  
Optimal Solution ◽  
Local Maximum ◽  
Function Optimization ◽  
Odor Source ◽  
Gas Source Localization ◽  
Plume Tracing ◽  
Annealing Algorithm

This paper presents a search strategy for single mobile robots to realize the active olfaction (also called odor/gas source localization or plume tracing). The odor source localization is regarded as a kind of dynamic function optimization problem in this article, using the simulated annealing algorithm to calculate the optimal solution of density distribution function, namely the odor source location. The simulation experiments results in indoor ventilated environment show that the robot can track in plume and locate the odor source under the area of the 10m*10m, and it can effectively jump out of local maximum values in the process of search.

Fusion of Gravitational Search Algorithm, Particle Swarm Optimization, and Grey Wolf Optimizer for Odor Source Localization

2018 ◽  
pp. 276-302
Author(s):  
Upma Jain ◽  
Ritu Tiwari ◽  
W. Wilfred Godfrey
Keyword(s):  
Particle Swarm Optimization ◽  
Mobile Robots ◽  
Source Localization ◽  
Search Algorithm ◽  
Gravitational Search Algorithm ◽  
Grey Wolf Optimizer ◽  
Odor Source ◽  
Grey Wolf ◽  
Swarm Optimization ◽  
Gravitational Search

This chapter concerns the problem of odor source localization by a team of mobile robots. A brief overview of odor source localization is given which is followed by related work. Three methods are proposed for odor source localization. These methods are largely inspired by gravitational search algorithm, grey wolf optimizer, and particle swarm optimization. Objective of the proposed approaches is to reduce the time required to localize the odor source by a team of mobile robots. The intensity of odor across the plume area is assumed to follow the Gaussian distribution. Robots start search from the corner of the workspace. As robots enter in the vicinity of plume area, they form groups using K-nearest neighbor algorithm. To avoid stagnation of the robots at local optima, search counter concept is used. Proposed approaches are tested and validated through simulation.

Mobile Robot Coordinated Platooning: A Small-Scale Experimental Evaluation to Emulate Connected Vehicles

2015 ◽  
Author(s):  
Mohammad Goli ◽  
Azim Eskandarian
Keyword(s):  
Mobile Robots ◽  
Real Life ◽  
Point Of View ◽  
Small Scale ◽  
Experimental Point ◽  
Connected Vehicles ◽  
Multiple Robots ◽  
Experimental Platform ◽  
Vehicle Platooning ◽  
Set Up

This paper presents the problem of mobile robots specialized coordinated motion, namely platooning from an experimental point of view. An experimental set-up consisting of multiple mobile robots is developed to emulate a scaled version of real life connected vehicles which will move in a platoon formation for enhanced efficiency, safety, and energy conservations. The autonomous motion of multiple robots could be coordinated through wireless communications between them and a lead robot. Different aspects and requirements of an experimental platform to accomplish this mission are discussed. A platooning scenario using our connected mobile robots is demonstrated in this paper. The efficiency of the described platform in implementing vehicle platooning strategies and the behavior of propagation error when there is no communication between robots is observed from this experiment.

Psychology: Volume 1

2019 ◽  
Keyword(s):  
Positive Psychology ◽  
Human Life ◽  
Empirical Studies ◽  
Real Life ◽  
Human Beings ◽  
Cognitive Capability ◽  
Affective Processes ◽  
Abstract Level ◽  
The Impact ◽  
Cognition And Affect

This survey of research on psychology in five volumes is a part of a series undertaken by the ICSSR since 1969, which covers various disciplines under social science. Volume One of this survey, Cognitive and Affective Processes, discusses the developments in the study of cognitive and affective processes within the Indian context. It offers an up-to-date assessment of theoretical developments and empirical studies in the rapidly evolving fields of cognitive science, applied cognition, and positive psychology. It also analyses how pedagogy responds to a shift in the practices of knowing and learning. Additionally, drawing upon insights from related fields it proposes epithymetics–desire studies – as an upcoming field of research and the volume investigates the impact of evolving cognitive and affective processes in Indian research and real life contexts. The development of cognitive capability distinguishes human beings from other species and allows creation and use of complex verbal symbols, facilitates imagination and empowers to function at an abstract level. However, much of the vitality characterizing human life is owed to the diverse emotions and desires. This has made the study of cognition and affect as frontier areas of psychology. With this in view, this volume focuses on delineating cognitive scientific contributions, cognition in educational context, context, diverse applications of cognition, psychology of desire, and positive psychology. The five chapters comprising this volume have approached the scholarly developments in the fields of cognition and affect in innovative ways, and have addressed basic as well applied issues.

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