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dc.contributor.authorGongora, Andres
dc.contributor.authorMonroy, Javier
dc.contributor.authorGonzalez-Jimenez, Javier
dc.date.accessioned2017-10-06T12:22:32Z
dc.date.available2017-10-06T12:22:32Z
dc.date.created2017
dc.date.issued2017
dc.identifier.citationEuropean Conference on Mobile Robotics (ECMR), 2017es_ES
dc.identifier.urihttp://hdl.handle.net/10630/14598
dc.description.abstractGas source localization (GSL) is one of the most important and direct applications of a gas sensitive mobile robot, and consists in searching for one or multiple volatile emission sources with a mobile robot that has improved sensing capabilities (i.e. olfaction, wind flow, etc.). This work adresses GSL by employing a teleoperated mobile robot, and focuses on which search strategy is the most suitable for this teleoperated approach. Four different search strategies, namely chemotaxis, anemotaxis, gas-mapping, and visual-aided search, are analyzed and evaluated according to a set of proposed indicators (e.g. accuracy, efficiency, success rate, etc.) to determine the most suitable one for a human-teleoperated mobile robot. Experimental validation is carried out employing a large dataset composed of over 150 trials where volunteer operators had to locate a gas-leak in a virtual environment under various and realistic environmental conditions (i.e. different wind flow patterns and gas source locations). We report different findings, from which we highlight that, against intuition, visual-aided search is not always the best strategy, but depends on the environmental conditions and the operator’s ability to understand how gas distributes.es_ES
dc.description.sponsorshipUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.es_ES
dc.language.isoenges_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.subjectRobots autónomoses_ES
dc.subject.otherGas source localizationes_ES
dc.subject.otherMobile roboticses_ES
dc.subject.otherRobotic olfactiones_ES
dc.titleGas Source Localization Strategies for Teleoperated Mobile Robots. An Experimental Analysises_ES
dc.typeinfo:eu-repo/semantics/preprintes_ES
dc.centroE.T.S.I. Informáticaes_ES
dc.relation.eventtitleEuropean Conference on Mobile Robotics (ECMR)es_ES
dc.relation.eventplaceParis, Francees_ES
dc.relation.eventdateSeptember, 2017es_ES
dc.cclicenseby-nc-ndes_ES


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