Bibliographic Details
| Summary: | 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. |
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| Main Authors: | Rohrich, Ronnier Frates |
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| Other Authors: | Messias, Luís Felipe; Lima, José; Oliveira, Andre Schneider |
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| Subject: | Mobile robot Olfactory robotics Linear regression |
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| Year: | 2023 |
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| Country: | Portugal |
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| Document type: | conference paper |
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| Access type: | open access |
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| Associated institution: | Instituto Politécnico de Bragança |
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| Language: | English |
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| Origin: | Biblioteca Digital do IPB |
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