Experimental analysis of gas-sensitive Braitenberg vehicles

Lilienthal, Achim J.; Duckett, Tom

doi:10.1163/1568553041738103

Cited by 108 publications

(105 citation statements)

References 25 publications

(26 reference statements)

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“…The chemical gradient is measured by a pair of bilateral gas sensors mounted on each side of a robot, each directly controlling the speed of a wheel. Although a purely chemotactic approach does not perform well, a Braitenberg-style robot is able to track a plume towards a gas source by following the concentration gradient [14]. A key drawback of this approach is that the wind data is not considered.…”

Section: Odor / Gas Plume Trackingmentioning

confidence: 99%

From Insects to Micro Air Vehicles—A Comparison of Reactive Plume Tracking Strategies

Neumann

Bennetts

Lilienthal

et al. 2015

Intelligent Autonomous Systems 13

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Abstract. Insect behavior is a common source of inspiration for roboticists and computer scientists when designing gas-sensitive mobile robots. More specifically, tracking airborne odor plumes and localization of distant gas sources are abilities that suit practical applications such as leak localization and emission monitoring. Gas sensing with mobile robots has been mostly addressed with ground-based platforms and under simplified conditions and thus, there exist a significant gap between the outstanding insect abilities and state of the art robotics systems. As a step towards practical applications, we evaluated the performance of three biologically inspired plume tracking algorithms. The evaluation is carried out not only with computer simulations, but also with real-world experiments in which, a quadrocopter-based micro Unmanned Aerial Vehicle autonomously follows a methane trail towards the emitting source. Compared to ground robots, micro UAVs bring several advantages such as their superior steering capabilities and fewer mobility restrictions in complex terrains. The experimental evaluation shows that, under certain environmental conditions, insect like behavior in gas-sensitive UAVs is feasible in real world environments.

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Section: Odor / Gas Plume Trackingmentioning

confidence: 99%

From Insects to Micro Air Vehicles—A Comparison of Reactive Plume Tracking Strategies

Neumann

Bennetts

Lilienthal

et al. 2015

Intelligent Autonomous Systems 13

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“…Experiments have also been conducted with multiple robots [10,17,13], acting both independently and cooperatively. Other approaches include Braitenberg-type control [16], probabilistic inference [28,17,15] and meta-heuristic optimization methods [1,2,3,12,21].…”

Section: Introductionmentioning

confidence: 99%

A Graph-Based Formation Algorithm for Odor Plume Tracing

Soares

Aguiar

Pascoal

et al. 2016

Springer Tracts in Advanced Robotics

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Odor plume tracing is a challenging robotics application, made difficult by the combination of the patchy characteristics of odor distribution and the slow response of the available sensors. This work proposes a graph-based formation control algorithm to coordinate a group of small robots equipped with odor sensors, with the goal of tracing an odor plume to its source. This approach makes it possible to organize the robots in arbitrary and evolving formation shapes, with the aim of improving tracking performance. The algorithm was evaluated in a high-fidelity submicroscopic simulator, using different formations and achieving quick convergence and negligible distance overhead in laminar wind flows.

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“…The Mark III mobile nose has been utilised successfully in a number of experiments, including reactive gas source localization with a smelling Braitenberg vehicle [3], localization by concentration peak avoidance [1], and gas distribution mapping [4,2].…”

Section: Discussionmentioning

confidence: 99%

A stereo electronic nose for a mobile inspection robot

Lilienthal

Duckett

1st International Workshop on Robotic Sensing, 2003. ROSE' 03.

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This paper describes the design of a gas-sensitive system ("mobile nose") that is suitable for use on a mobile robot. The stereo architecture comprises of two equivalent sets of gas sensors mounted inside separated ventilated tubes (or "nostrils"). To characterise the dynamic response, the whole system is modelled as a first-order sensor. The corresponding parameters, including the response and recovery time, can be obtained by fitting this model to the values recorded during a simple experiment described in this paper. Our experiments confirmed the suitability of the applied model and permitted a quantitative comparison of different set-ups. It is shown that using suction fans lowers the recovery time of the metal oxide gas sensors by a factor of two, while a solid separation between the tubes ("septum") is necessary to maintain the sensitivity of the mobile nose to concentration gradients

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Experimental analysis of gas-sensitive Braitenberg vehicles

Cited by 108 publications

References 25 publications

From Insects to Micro Air Vehicles—A Comparison of Reactive Plume Tracking Strategies

From Insects to Micro Air Vehicles—A Comparison of Reactive Plume Tracking Strategies

A Graph-Based Formation Algorithm for Odor Plume Tracing

A stereo electronic nose for a mobile inspection robot

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