| Name: | Description: | Size: | Format: | |
|---|---|---|---|---|
| 3.88 MB | Adobe PDF |
Advisor(s)
Abstract(s)
This article discusses a novel approach to collective mapping that uses autonomous sensors to
create safe routes in environments with gas leaks. Multiple mobile sensors seek to delimit different regions
and assign them different tasks according to their momentary needs. In this study, robot groups act as
multiple composite sensors that can move independently according to their assigned functions. Autonomous
detection, collective mapping, and collective decision-making of the robots are behaviors bioinspired by
the cognitive mechanisms observed in bacterial colonies. These colonies continuously seek to maintain the
lives of their species based on their collective decision-making in searching for energy sources and changing
colony size. In addition, as gas dispersion in the environment increases, the received data from the sensors
aids collective decision-making, assigning different functions, such as mapping, environment exploration,
and route creation, to groups of mobile sensors. Depending on the momentary need, the number of sensors in
each group changes. The proposed method in this study was based on real mobile robots with characteristics
that enable varying levels of scalability in size. Subsequently, it was evaluated in a simulated system and
developed for experimentation with gas and mobile sensors in a dynamic and realistic environment. This
study further contributes to analyzing multiple tasks in homogeneous sensor groups executing different tasks.
Furthermore, this work introduced a simulated experimental system to test different topologies of multiple
scalable mobile sensors.
Description
Keywords
Gas mapping Safe route Multiple mobile sensor Scalable size
Citation
Rohrich, Ronnier Frates; Messias, Luís Felipe; Lima, Jose; Oliveira, André Schneider de (2024). Collective mapping of gas leakages to determine safe routes using multi-robot system. IEEE Access. ISSN 2169-3536. 12, p. 179764-179784
Publisher
IEEE