相关论文: SniffySquad: Patchiness-Aware Gas Source Localizat…

Localization is a crucial task for autonomous mobile robots in order to successfully move to goal locations in their environment. Usually, this is done in a robot-centric manner, where the robot maintains a map with its body in the center.…

Benefitting from UAVs' characteristics of flexible deployment and controllable movement in 3D space, odor source localization with multiple UAVs has been a hot research area in recent years. Considering the limited resources and…

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…

While robotic perception has advanced rapidly in vision and touch, enabling robots to reason about indoor fungal contamination from weak, diffusion-dominated chemical signals remains an open challenge. We introduce Scensory, a…

Multi-robot swarms play an essential role in complex missions including battlefield reconnaissance, agricultural pest monitoring, as well as disaster search and rescue. Unfortunately, given the complexity of swarm algorithms, logical…

This work targets the problem of odor source localization by multi-agent systems. A hierarchical cooperative control has been put forward to solve the problem of locating source of an odor by driving the agents in consensus when at least…

Locating the source of odor in a turbulent environment - a common behavior for living organisms - is non-trivial because of the random nature of mixing. Here we analyze the statistical physics aspects of the problem and propose an efficient…

This technical report is an extended version of the paper 'Cooperative Multi-Target Localization With Noisy Sensors' accepted to the 2013 IEEE International Conference on Robotics and Automation (ICRA). This paper addresses the task of…

In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…

The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive.…

The problem of locating an odor source in turbulent flows is central to key applications such as environmental monitoring and disaster response. We address this challenge by designing an algorithm based on Bayesian inference, which uses…

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…

Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should the robot move so as to localize the targets and minimize the…

Radio source localization can benefit many fields, including wireless communications, radar, radio astronomy, wireless sensor networks, positioning systems, and surveillance systems. However, accurately estimating the position of a radio…

Recent findings suggest that abnormal operating conditions of equipment in the oil and gas supply chain represent a large fraction of anthropogenic methane emissions. Thus, effective mitigation of emissions necessitates rapid identification…

The hearing sense on a mobile robot is important because it is omnidirectional and it does not require direct line-of-sight with the sound source. Such capabilities can nicely complement vision to help localize a person or an interesting…

Finding the distant source of an odor dispersed by a turbulent flow is a vital task for many organisms, either for foraging or for mating purposes. At the level of individual search, animals like moths have developed effective strategies to…

For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers,…

Chemical multisensor devices need calibration algorithms to estimate gas concentrations. Their possible adoption as indicative air quality measurements devices poses new challenges due to the need to operate in continuous monitoring modes…

The use of autonomous vehicles for chemical source localisation is a key enabling tool for disaster response teams to safely and efficiently deal with chemical emergencies. Whilst much work has been performed on source localisation using…