Related papers: Distributed Information-based Source Seeking
Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of…
Source localization in a complex flow poses a significant challenge for multi-robot teams tasked with localizing the source of chemical leaks or tracking the dispersion of an oil spill. The flow dynamics can be time-varying and chaotic,…
We introduce a novel distributed source seeking framework, DIAS, designed for multi-robot systems in scenarios where the number of sources is unknown and potentially exceeds the number of robots. Traditional robotic source seeking methods…
This paper considers a radio-frequency (RF)-based simultaneous localization and source-seeking (SLASS) problem in multi-robot systems, where multiple robots jointly localize themselves and an RF source using distance-only measurements…
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The…
This paper considers the problem of localising a stationary signal source using a team of mobile agents which only take binary measurements. Background false detection rates and missed detection probabilities are incorporated into the…
In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking robot planner is a model that can produce estimates of the…
Identifying a gas source in turbulent environments presents a significant challenge for critical applications such as environmental monitoring and emergency response. This issue is addressed through an approach that combines distributed IoT…
We discuss the localization of radiation sources whose number and other relevant parameters are not known in advance. The data collection is ensured by an autonomous mobile robot that performs a survey in a defined region of interest…
With the advances in sensors and computer networks an increased number of Mixed Reality (MR) applications require large amounts of information from the real world. Such information is collected through sensors (e.g. position and orientation…
In this paper we use the MAP criterion to locate a region containing a source. Sensors placed in a field of interest divide the latter into smaller regions and take measurements that are transmitted over noisy wireless channels. We propose…
We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
Most studies that consider the problem of estimating the location of a point source in wireless sensor networks assume that the source location is estimated by a set of spatially distributed sensors, whose locations are fixed. Motivated by…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
We present a solution for locating the source, or maximum, of an unknown scalar field using a swarm of mobile robots. Unlike relying on the traditional gradient information, the swarm determines an ascending direction to approach the source…
Mobile robots in real-life settings would benefit from being able to localize and track sound sources. Such a capability can help localizing a person or an interesting event in the environment, and also provides enhanced processing for…
In this article, we present a distributed framework for collecting and analyzing environmental and location data recorded by human users (carriers) with the use of portable sensors. We demonstrate the data mining analysis potential among…
We present an algorithm to solve the problem of locating the source, or maxima, of a scalar field using a robot swarm. We demonstrate how the robot swarm determines its direction of movement to approach the source using only field intensity…
Algorithms for multi-agent systems to locate a source or to follow a desired level curve of spatially distributed scalar fields generally require sharing field measurements among the agents for gradient estimation. Yet, in this paper, we…
We address the problem where a mobile search agent seeks to find an unknown number of stationary objects distributed in a bounded search domain, and the search mission is subject to time/distance constraint. Our work accounts for false…