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Type: Journal article
Title: Indoor odour source localisation using robot: Initial location and surge distance matter?
Author: Lu, T.
Citation: Robotics and Autonomous Systems, 2013; 61(6):637-647
Publisher: Elsevier Science BV
Issue Date: 2013
ISSN: 0921-8890
Statement of
Tien-Fu Lu
Abstract: Learning from insects and animals to enable an autonomous robot to detect chemical emissions caused by fire, toxic gas leakage and explosive at their early stages, and localise their sources swiftly can avoid risking human health and even save lives. This paper presents a series of investigations aimed to find answers for two important questions, one is "Are there advantageous locations when releasing a robot for speedier chemical source localisation with no prior knowledge about the environment as well as the possible location of the source?" The other question is similar but focusing on whether a different surge distance makes any noticeable differences. To find the answers, a simulated autonomous robot and an indoor office-like environment which contains an odour/gas source emitting varying chemical concentration levels as well as constantly varied wind speeds and directions, were adopted. © 2013 Elsevier B.V. All rights reserved.
Keywords: Odour source localisation
Initial location
Surge distance
Plume tracing
Rights: Copyright © 2013 Elsevier B.V. All rights reserved.
DOI: 10.1016/j.robot.2013.02.002
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Appears in Collections:Aurora harvest
Mechanical Engineering publications

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