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Advisor(s)
Abstract(s)
This work addresses the problem of gas leaks and proposes a search strategy for identifying the source of
a gas leak within a virtual simulation environment. The research focuses on designing and implementing
simulation, control, and gas source search packages using swarm robotics. The simulation employs numerical
integration strategies, while the robot swarm control is based on potential fields theory. The location of the gas
source using a weighted linear regression strategy is used to estimate the gas concentration gradient, which
plays a crucial role in the optimization strategy employed. The paper presents an overview of the key concepts
employed and their relevance to different stages of the problem and highlights the main results achieved
through the chosen strategies. A significant outcome of this work is the development of reusable software
packages applicable to various research contexts in mobile robotics.
Description
Keywords
Mobile robot Olfactory robotics Linear regression
Citation
Rohrich, Ronnier Frates; Messias, Luis; Lima, José; Oliveira, Andre Schneider (2023). A linear regression based-approach to collective gas source localization. In 20th International Conference on Informatics in Control, Automation and Robotics (ICINCO). p. 657-664. ISBN 978-989-758-670-5
Publisher
SciTePress Digital Library