Olfactory telerobotics. A feasible solution for teleoperated localization of gas sources?

Gongora, Andres; González-Jiménez, Javier

doi:10.1016/j.robot.2018.12.008

Cited by 6 publications

(5 citation statements)

References 26 publications

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“…One relevant aspect of IGDM is that it shares the same approach as infotaxis [ 30 ], an information-driven search strategy, to locate the source of a gas distribution. Instead of following a predictable pattern or moving to locations with a higher gas concentration, both strategies (IGDM and infotaxis ) focus on minimizing the uncertainty of the gas distribution, even if this means sampling at locations with no gas at all to confirm its absence [ 53 ]. Despite their differences, one being aimed at Gas Distribution Modeling (GDM) and the other at Gas Source Localization (GSL), it is reasonable to consider that they could be eventually brought together for mutual benefit.…”

Section: Discussionmentioning

confidence: 99%

Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots

Gongora

Monroy

Rahbar

et al. 2023

Sensors

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The ability to sense airborne pollutants with mobile robots provides a valuable asset for domains such as industrial safety and environmental monitoring. Oftentimes, this involves detecting how certain gases are spread out in the environment, commonly referred to as a gas distribution map, to subsequently take actions that depend on the collected information. Since the majority of gas transducers require physical contact with the analyte to sense it, the generation of such a map usually involves slow and laborious data collection from all key locations. In this regard, this paper proposes an efficient exploration algorithm for 2D gas distribution mapping with an autonomous mobile robot. Our proposal combines a Gaussian Markov random field estimator based on gas and wind flow measurements, devised for very sparse sample sizes and indoor environments, with a partially observable Markov decision process to close the robot’s control loop. The advantage of this approach is that the gas map is not only continuously updated, but can also be leveraged to choose the next location based on how much information it provides. The exploration consequently adapts to how the gas is distributed during run time, leading to an efficient sampling path and, in turn, a complete gas map with a relatively low number of measurements. Furthermore, it also accounts for wind currents in the environment, which improves the reliability of the final gas map even in the presence of obstacles or when the gas distribution diverges from an ideal gas plume. Finally, we report various simulation experiments to evaluate our proposal against a computer-generated fluid dynamics ground truth, as well as physical experiments in a wind tunnel.

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Section: Discussionmentioning

confidence: 99%

Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots

Gongora

Monroy

Rahbar

et al. 2023

Sensors

Self Cite

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“…Even so, we believe that this is an area ripe for research. Some work in HRI [139] has explored robots that are able to detect and distinguish scents, especially in teleoperation contexts such that the robot's "nose" is an extension of the human operator's senses (e.g., [140]). Work in the related field of HCI has explored olfactory displays (e.g., [141,142]), providing technical proofsof-concept.…”

Section: Olfactory Nonverbal Codesmentioning

confidence: 99%

Nonverbal Cues in Human–Robot Interaction: A Communication Studies Perspective

Urakami

Seaborn

2023

J. Hum.-Robot Interact.

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Communication between people is characterized by a broad range of nonverbal cues. Transferring these cues into the design of robots and other artificial agents that interact with people may foster more natural, inviting, and accessible experiences. In this position paper, we offer a series of definitive nonverbal codes for human-robot interaction (HRI) that address the five human sensory systems (visual, auditory, haptic, olfactory, gustatory) drawn from the field of communication studies. We discuss how these codes can be translated into design patterns for HRI using a curated sample of the communication studies and HRI literatures. As nonverbal codes are an essential mode in human communication, we argue that integrating robotic nonverbal codes in HRI will afford robots a feeling of “aliveness” or “social agency” that would otherwise be missing. We end with suggestions for research directions to stimulate work on nonverbal communication within the field of HRI and improve communication between human and robots.

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“…Many authors investigate reactive chemotaxis algorithms and robot applications to spot chemicals in the air and odour plumes [37,38,[41][42][43][44][45][46][47][48]. Reference [36] presents two different strategies for detecting odour plumes: passive and active.…”

Section: Chemotaxis and Reactive Algorithmsmentioning

confidence: 99%

A minimal biologically-inspired algorithm for robots foraging energy in uncertain environments

Andrade

Boyle

2020

Robotics and Autonomous Systems

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This work details the design and simulation results of a bioinspired minimalist algorithm based on C. elegans, using autonomous agents to forage for attractant energy sources. The robotic agents are energy-constrained and depend on the energy they forage to recharge their batteries, which is significant as the foraging task is one of the canonical testbeds for cooperative robotics.The algorithm consists of 6 input parameters which were simulated and optimised in 9 unbounded environments of varying difficulty levels, containing attractant sources which robots would then have to forage from to maintain energy levels and survive the entirety of the simulation.The robots running the algorithm were then optimised using Evolutionary Algorithms and the best solutions in all 9 environments were categorized with the use of clustering techniques. The clustering results highlighted the different strategies which emerged. Ultimately across the 9 environments, 6 different strategies have been identified. The results demonstrate the applicability of the proposed algorithm to localise attractant sources and harvest energy in different scenarios using the same core algorithm.

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Olfactory telerobotics. A feasible solution for teleoperated localization of gas sources?

Cited by 6 publications

References 26 publications

Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots

Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots

Nonverbal Cues in Human–Robot Interaction: A Communication Studies Perspective

A minimal biologically-inspired algorithm for robots foraging energy in uncertain environments

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