Publication
Multi-mobile robot and avoidance obstacle to spatial mapping in indoor environment
| dc.contributor.author | Piardi, Luis | |
| dc.contributor.author | Lima, José | |
| dc.contributor.author | Oliveira, Andre Schneider | |
| dc.date.accessioned | 2021-08-26T09:18:07Z | |
| dc.date.available | 2021-08-26T09:18:07Z | |
| dc.date.issued | 2021 | |
| dc.description.abstract | The advancement of technology and techniques applied to robotics contributes to increasing the quality of life and safety of humanity. One of the most widespread applications of mobile robotics is related to monitoring indoor environments. However, due to factors such as the size of the environment impacting the monitoring response, battery autonomy, and autonomous navigation in environments with unknown obstacles, they are still significant challenges in the diffusion of mobile robotics in these areas. Strategy adopting multiple robots can overcome these challenges. This work presents an approach to use multi-robots in hazardous environments with gas leakage to perform spatial mapping of the gas concentration. Obstacles arranged in the environment are unknown to robots, then a fuzzy control approach is used to avoid the collision. As a result of this paper, spatial mapping of an indoor environment was carried out with multi-robots that reactively react to unknown obstacles considering a point gas leak with Gaussian dispersion. | pt_PT |
| dc.description.sponsorship | This work has been supported by FCT - Fundação para a Ciência e Tecnologia within the Project Scope: UIDB/05757/2020. Additionally, this work was supported in part by the National Counsel of Technological and Scientific Development of Brazil (CNPq), in part by the Coordination for the Improvement of Higher Level People (CAPES). | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.citation | Piardi, Luis; Lima, José; Oliveira, Andre Schneider (2021). Multi-mobile robot and avoidance obstacle to spatial mapping in indoor environment. In 11th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, SIMULTECH 2021. p. 21-29. ISBN 978-989-758-528-9 | pt_PT |
| dc.identifier.doi | 10.5220/0010509200210029 | pt_PT |
| dc.identifier.isbn | 978-989-758-528-9 | |
| dc.identifier.uri | http://hdl.handle.net/10198/23827 | |
| dc.language.iso | eng | pt_PT |
| dc.peerreviewed | yes | pt_PT |
| dc.relation | Research Centre in Digitalization and Intelligent Robotics | |
| dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | pt_PT |
| dc.subject | Autonomous mobile robot | pt_PT |
| dc.subject | Gas sources detection | pt_PT |
| dc.subject | Avoidance obstacle | pt_PT |
| dc.subject | Fuzzy control | pt_PT |
| dc.title | Multi-mobile robot and avoidance obstacle to spatial mapping in indoor environment | pt_PT |
| dc.type | conference paper | |
| dspace.entity.type | Publication | |
| oaire.awardTitle | Research Centre in Digitalization and Intelligent Robotics | |
| oaire.awardURI | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT | |
| oaire.citation.endPage | 29 | pt_PT |
| oaire.citation.startPage | 21 | pt_PT |
| oaire.citation.title | 11th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, SIMULTECH 2021 | pt_PT |
| oaire.fundingStream | 6817 - DCRRNI ID | |
| person.familyName | Piardi | |
| person.familyName | Lima | |
| person.givenName | Luís | |
| person.givenName | José | |
| person.identifier | R-000-8GD | |
| person.identifier.ciencia-id | C51A-82DB-016F | |
| person.identifier.ciencia-id | 6016-C902-86A9 | |
| person.identifier.orcid | 0000-0003-1627-8210 | |
| person.identifier.orcid | 0000-0001-7902-1207 | |
| person.identifier.rid | L-3370-2014 | |
| person.identifier.scopus-author-id | 55851941311 | |
| project.funder.identifier | http://doi.org/10.13039/501100001871 | |
| project.funder.name | Fundação para a Ciência e a Tecnologia | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
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